二次振動要素を含むディジタルサーボ系のサンプリング周期の設計(第2報) : 安定化原理とその応用

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The authors have reported on the design criteria of a sampling period for a digital position servomechanism including a second-order oscillatory element and clarified that there exists a non-zero optimal sampling period for stabilization of the servomechanism with a low damping coefficient (ζ<0.2). This paper deals with an analysis of the stabilization principle based on its closed loop root loci and its open loop frequency characteristics respectively. The analysis makes clear that a phase lag caused by the time delay element within the digital controller effectively acts to the stabilization. Moreover, applications of the principle are proposed. At first, a strategy to shorten the optimal sampling period by introducing multi-sample delay elements in the controller is shown, which is effective to avoid an influence of the aliasing and to reduce signal noise. Next, a method is proposed for stabilizing the servomechanism in which a dead time element is added.
社団法人精密工学会の論文
1991-07-05