高次振動モードを考慮した制振アクセス制御 : 第2報,制振速度起動制御

概要

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This paper presents vibrationless velocity control of a vibratory positioning mechanism with robustness for high-order natural modes of vibration. From the requirement for high-precision positioning, it is desirable to eliminate residual vibration of higher-order natural modes of vibration at a target position. To obtain a feedforward access control force which provides a strict final motion state without exciting higher-order natural modes of vibration, two frequency-shaped cost functionals whose weighting functions are represented by first-order and second-order high-pass filters are used in the optimal control theory. The control forces have smaller frequency components in the high-frequency region as compared with the conventional feedforward control forces. The performances of the proposed vibrationless access control methods are demonstrated with experimental results using a flexible swing arm positioning mechanism.
社団法人日本機械学会の論文
1993-12-25