多自由度振動系の高速位置決め制御

概要

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One of the most effective ways to realize a high speed positioning control is to lighten the weight of the mechanical parts of the system. But in such a system, flexibility must be taken into consideration in the control theory, otherwise it results in positioning error and remaining vibration. Positioning control depends on an access mode and a positioning mode ; and to realize a high speed positioning control, fast access is required at first. In the access mode, only the positioning of the load close to the object point is required. So in the access mode, it seems to be possible to control a flexible system with an open loop circuit, so long as there exists little disturbance. From this point of view, the access mode of high speed positioning control of a flexible system with minimum input energy is discussed in this paper.
社団法人日本機械学会の論文
1986-03-25