逆動力学とニューロ適応制御を用いた弾性支持方式位置制御系の離散時間モデルに基づく設計

概要

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In this paper, first, the design method of the discrete-time position control system of a body supported elastically is showed. In the design of the discrete-time position control system, the pulse transfer function of the body supported elastically and driven by a linear DC motor is derived by the z-transform, and the discrete-time control voltage of the linear DC motor is obtained by applying the inverse dynamics or the neuro-adaptive control in consideration of the delay time due to the computation time of the control digital computer. Then, from the experimental results, the usefulness of the present design method of the discrete-time position control system is confirmed, and the control performance of both control methods in regard to disturbance is compared. Furthermore, from the numerical simulation results, the effects of the sampling time on the control performance of the neuro-adaptive control is demonstrated.
公益社団法人精密工学会の論文
1993-12-05