直流サーボモータによるカム曲線の出力(第2報) : 振動負荷系の残留振動特性

概要

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On the previous paper, it have been described that the same motion as the cam displacement curves can be obtained by applying the feedforward control method, that is, the inverse to DC motor driving system. In this paper, it was clarified that the velocity feedback for the motor driving system reduces the effect of the real motor parameter deviation from the setting values of the inverse, even if including the displacement feedback. Moreover, the resisual vibration characteristics of one degree of freedom vibration load connected to the motor axis compensated by the above-mentioned means were studied. The numerical and experimental results in case of the basic motion curves as the parabolic and harmonic motion cam curves were simillar to the mechanical cam behaviour. Then the availability of the inverse system method for the motor output was assured also dynamically. And the possibility of the open control positioning by the motor was obtained.
公益社団法人精密工学会の論文
1991-11-05