シミュレーションベースによる目標軌道設計とその振動系の位置決め制御への適用(機械力学,計測,自動制御)

概要

論文の詳細を見る
Servo control is one of the most important control techniques for motion control of mechanical structures. Generally, the servo control consists of reference trajectories and a feedback controller. Many recent studies in the control engineering field have treated recent design methods of feedback controllers taking account of several control specifications. However, generally, the ability of an actual feedback controller is strictly limited due to its cost or difficulties of realization. Different from the above approaches, this study proposes a novel framework for the motion control of mechanical structures. It means a combination of a high performance reference generation and a simple feedback controller. References are generated by an offline simulator taking several specifications into account. As an example, we discuss a positioning control of a vibration system and utilize a nonstationary optimal control simulator and a sliding mode feedback controller. The effectiveness of the method is verified by numerical calculations and experiments.
一般社団法人日本機械学会の論文
2002-08-25