位置決め制御におけるオーバシュートとその対策

概要

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In servo motor drive system, maximum current supplied to the motor must be limited by the servo amplifier for preventing the trouble of motor. So a saturation element must be included in the servo motor drive system. Overshoot such as windup phenomena sometimes occurs in the nonlinear control system that includes the saturation element. Here, countermeasure for the overshoot must be done. Countermeasures for the overshoot like windup about the velocity control system that include the saturation element in the control loop have already researched in the past. On the contrary, an countermeasure for the overshoot about the position control system with saturation element in the control loop has just presented in this paper. Countermeasures for the overshoot about the velocity control system cannot be applied to the overshoot about the position control system. The method for preventing the overshoot for the position control system is shown such as limiting the maximum velocity of motor. It is found that this method presented in this study confirms the effect of preventing an overshoot.
公益社団法人精密工学会の論文
2001-06-05