高次振動モードを考慮した制振アクセス制御

概要

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This paper discusses vibrationless access control of a vibratory positioning mechanism with robustness to high-order natural modes of vibration. From the ceaseless 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 does not excite high-order natural modes of vibration, a frequency-shaped cost functional whose weighting function is represented by a second-order high-pass filter is used in the optimal control theory. The control force has smaller frequency components in high frequency region as compared with the conventional feedforward control forces. The performance of the proposed vibrationless access control is demonstrated with experimental results using a flexible swing arm positioning mechanism.
社団法人日本機械学会の論文
1993-03-25