剛性が不足した機構部を含む系の精密位置決め : セミクローズド制御とフルクローズド制御の融合

概要

論文の詳細を見る
Generally, for the position control of industrial machines, a semi-closed loop control which uses only the information of motor' s angle is adopted, since it contributes to the stability of the control system. In this method, however, precise positioning cannot be attained because of the some non-linear elements in the driving mechanism. Also, by the full-closed loop control which uses only the information of load' s angle, it is difficult to keep the stability because of containing a flexibility between the sensor and the actuator, so it is necessary to control the system at low gain, and the positional accuracy is declined. Therefore, this study shows a method of fusing a semi-closed loop control into a full-closed loop control, and this technique solves mutual faults which a semi-closed and a full-closed loop control have and it gets a high positional accuracy. Also, the effectivity about this control technique is shown by the experiment.
公益社団法人精密工学会の論文
2000-09-05