高速・高精度位置決め機構の整定過程の解析と制御 : 第1報, モデル化と計算機シミュレーション

概要

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We describe a theoretical and experimental investigation of overshoot in the positioning process of an access mechanism in a semi-closed-loop control system. A high-speed, high-precision positioning system is made and its dynamic model of two degrees of freedom and a higher-order model are constructed for theoretical analysis and computer simulation. It is found from omputer simulation that a certain amount of overshoot is always induced at the target position when a large deceleration curve is employed as a reference, and that the amount of the first overshoot cannot be suppressed by any feedback control. Experimental results agree well with those of computer simulation. Computer simulation reveals that the overshoot is caused by deformation of the first natural mode of vibration. Analytical solutions are presented for estimating the amount of overshoot and the lowest natural frequency of the positioning mechanism whose overshoot does not exceed the settling width.
社団法人日本機械学会の論文
1994-05-25