逆動力学に基づくフィードフォワード制御を適用した高速位置制御 : リニア直流モータとはりを用いた場合

概要

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A rapid position control method, to which the feedforward control based on the inverse dynamics is applied, is presented, and the availability is confirmed experimentally and theoretically. In the experiment, the linear direct current motor is made with an aluminum coil frame or an acrylic resin frame. Then, it is confirmed that, by the present control method, the moving part of the linear direct current motor can be controlled exactly to the position control command for an arbitrary settling time, without undesirable mechanical vibrations. When the settling time is comparatively long, the wave shape of the control current of the motor is affected mainly by the spring force of the beam. Then, with a decreasing value of the settling time, the inertia force has significant effects on the wave shape of the control current. Furthermore, the numerical simulation results obtained by the finite element method agree well with the experimental results.
社団法人日本機械学会の論文
1990-06-25