摩擦負荷トルクを考慮したサーボモータの高速位置決め制御系の一構成法

概要

論文の詳細を見る
When the position error becomes small, in a conventional positioning system, its motor cannot obtain enough deceleration torque. Hence, the position response becomes slow. There is the other positioning system that is to design the position reference using a trapezoidal speed reference. When the load torque and the final goal position are known, this positioning system has a fine response. However, if the load torque and the final goal vary, its position response cannot have the desired response. In order to overcome these problems, this paper proposes a new high speed positioning system of AC servo motor considering both an unknown friction torque and a windup phenomenon. The proposed system always uses the maximum acceleration, deceleration torque and the maximum speed.
社団法人電気学会の論文
2004-07-01