高速高精度駆動のためのタスクの優先順位を考慮した機械系の同相化設計法(機械力学,計測,自動制御)

概要

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The flexibility of the mechanical system is one of the factors of the bandwidth limitation. Especially, it is known that an out-of-phase vibration mode makes the closed loop unstable with the negative feedback of the positioning error. In this paper, a novel mode shaping method for in-phase design of flexible structures is proposed. From the relation between the modal analysis and the statespace representation, we classify in-phase mode shaping into two types based on the boundaries which are passed across during the shaping process. By the proposed method, the out-of-phase modes are shaped into in-phase in order of the natural frequencies applying a task priority based modification scheme. We also propose a method of selecting the boundary, so that the vibration mode is shaped into the arbitrary type of in-phase design.
一般社団法人日本機械学会の論文
2002-01-25