振動自由度をもつ機構の位置決め制御に関する基礎的研究 : 第2報,揺動形位置決め機構における振動モードの安定化設計法

概要

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The cause of an instability phenomenon in the positioning control of a mechanical system with some vibration freedom is that the phases of vibration modes are opposite to those of rigid body modes between a sensor point and a control input point. In this paper, the stabilizing design method of a swinging arm actuator, which is commonly used in magnetic disk storage, is discussed based on the modal analysis. The two lowest vibration modes due to the isotropic bearing stiffness at the pivot are considered in addition to the rigid body mode. As a result, it is found that the two vibration modes can be in-phase with the rigid body mode, if a control input point to a pivot line is tilted with respect to a sensor point to a pivot line at a small-angle, and the center of gravity is settled within the vertically opposite angle and a specific region between a sensor point and a pivot.
一般社団法人日本機械学会の論文
1989-12-25