円弧軌跡についてのP, P1, 外乱相殺制御の性能比較

概要

論文の詳細を見る
As a conventional control method for positioning systems using an AC servo motor, PI control is usually dsed for the purpose of suppressing disturbance torque. On the other hand, disturbance cancellation control using a disturbance observer has been used in various industrial machines, and high precision control has been achieved. In this work, we investigated the control performance, i.e., the motion tracking property and the disturbance suppression property, of P, PI and disturbance cancellation controllers, performed an experiment on the circular motion tracking properties, and compared the steady state errors and the projection errors between the three controllers. It was confirmed that the disturbance cancellation controller has the best performance of these three controllers.
一般社団法人日本機械学会の論文
1997-10-25