高次振動モードを考慮した制振アクセス制御 : 第3報,制振加速度制御

概要

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This paper presents vibrationless acceleration control of a vibratory positioning mechanism with robustness to high-order natural modes of vibration. From the veiw point of the continuously stricter requirements 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 vibrationless acceleration control force which does not excite higher-order natural modes of vibration, two frequency-shaped cost functionals weighted 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 minimum heat generation vibrations acceleration control force when the control time is longer than 0.7 times the natural period of the first natural mode of vibration. The performances of the proposed vibrations acceleration control forces 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
1995-05-25