バックラッシュを有するサーボ機構のマイクロコンピュータを用いた衝突が生じない制御方式

概要

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A new control method of servomechanism with backlash is proposed and experimented. In the proposed method, control strategy of contact state of the motor and the load is definitely distinguished from that of non-contact state, so as to avoid collision at backlash element. The control algorithm is composed as follows : 1. gap control. 2. load position control. 3. drive direction judgement of the load. 4. contact/non-contact judgement and 5. switching the control strategies. An experimental system was composed of a motor, a load inertia and a coupling with backlash. Measurement of the state variables and the control algorithm were realized by a microcomputer system. In an example of positioning of the load, the following steps were observed : 1. positive-side contact without collision, 2. accelerate the load by the motor, 3. state transition from positive to negative drive direction, 4. negative-side contact without collision, 5. decelerate the load by the motor and 6. .positioning. The experiment has shown collisionfree, stable and quick responses and positioning accuracy within ^+_-1 pulse of the position detector independently of backlash and its distance.
公益社団法人精密工学会の論文
1984-11-05