最適同期化制御系とそのリニア X-Y テーブルへの応用

概要

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A method for optimal synchronous position control of a multiservo system is proposed. Synchronous position control is required in many engineering applications such as a two-wheel-drive vehicle and a large rotary machine. Synchronous position control using inverse dynamics of slave systems has already been proposed. However, it is not applicable when disturbance is added to the slave system. A cross-coupled biaxial system with a symmetrical structure has also been proposed. However, this system isn't stable when an inappropriate value of the weighting factor is chosen. In this paper, an optimal synchronous position control system for a multiservo system is proposed, where both position errors and a synchronous error are included in a performance index. The control system is always stable and synchronous position control is realized by decreasing the synchronous error. It is applied to a linear X-Y table and its effectiveness is confirmed by experiment.
一般社団法人日本機械学会の論文
1996-06-25