フィードフォワードを主体としたフレキシブルアームの最適起動停止速度制御

概要

論文の詳細を見る
The problem to suppress transient vibration at the access motion of a multidegrees-of-freedom flexible mechanical system is assessed. The procedure to derive an optimal vibrationless motion and input force are generally formulated using the modal equation of motion for a multidegrees-of-freedom flexible mechanical system. A combined control of a control point velocity tracking feedback together with the vibrationless feedforward input is describcd. Next, this method is applied to an access control for a rotational flexible arm positioning system. It is shown from the experiment that the transient vibration can be suppressed well using the combined control of collocation velocity tracking feedback and a vibrationless feedforward input.
社団法人日本機械学会の論文
1988-12-20