ばねダンパ要素を含む2段アクチュエータ系の非定常最適制御(機械力学,計測,自動制御)

概要

論文の詳細を見る
Nonstationary optimal regulator (NOR) is one of the effective methods for positioning control of vibration systems. NOR corresponds to an LQ regulator utilizing time-varying weighting functions and produces positioning trajectories taking the vibration characteristic of a controlled object into account. Generally, many positioning or tracking mechanisms such as information equipments, machine tools and robots adopt dual-stage actuator systems (DSASs). DSASs consist of coarse and fine actuators and realize efficient and high performance responses. However, the control method for DSASs with mechanical flexibility has not been fully addressed. This study utilizes the NOR technique for positioning control of DSASs taking spring and damping elements of controlled objects into account. We use a proper combination of time-varying weights for this problem. The effectiveness of this method is verified by numerical calculations and experiments.
一般社団法人日本機械学会の論文
2003-02-25