ACサーボモータの電圧飽和と電流飽和を考慮した連続軌跡追従制御系の一構成法

概要

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Continuous path tracking control is an important technology for the position control system such as factory automation field. Particulaly, large torque is required for continuous path tracking control at its start position and its goal position. Each AC servo motor of continuous path tracking control have limitation of current and voltage. Therefore, in controlling a multi-degree-of-freedom continuous path tracking control system, even if only the motor torque of one axis has the current limitation, the actual position response is not often equal to the desired trajectory reference. In order to overcome these problems, this paper proposes a new continuous path tracking control algorithm by considering both the saturation of voltage and current. The proposed method assures the coordinated motion by considering the saturation of voltage and current. The effectiveness of the proposed method is confirmed by the experimental results in this paper.
2009-08-01