高精度軌跡制御のための2自由度サーボ系における制御定数と限界速度の自動設定

概要

論文の詳細を見る
This paper presents a highly accurate trajectory control method and auto-tuning for its mechanical systems based on two-degree-of-freedom control theory. This control method is useful because its controller consists of a conventional PID feedback compensator and a simple feedforward compensator. The proposed auto-tuning method does not require a fixed reference for tuning and determines control parameters in the feedforward and feedback compensators using the identified parameters such as load inertia, a damping coefficient and Coulomb friction. Furthermore, this paper proposes a new algorithm for automatically determining an allowable maximum velocity with which the mechanical system is able to be driven with accuracy. The experimental results of circular motion with a XY table system show that the proposed method is effective in practical use.
社団法人日本機械学会の論文
1994-06-25