経路制御における面積評価項の問題点と補助項の導入

概要

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Presently, tracking control with high speed and high accuracy is required in the fields of robotics and machine tools. For the control problem, we proposed a preview control system which has a superficial evaluation term in its performance index. In this paper, we consider the physical meaning of the term for application to the problem. As a result, it becomes obvious that two cases are important. The first one is when tracking position is on the velocity vector of the desired signal. The second one is when the desired signal does not change. In both cases, the term becomes zero ; then the path error becomes large. To improve the problem caused by the first case, we introduce an auxiliary superficial term into the performance index of the preview control system. The synthesis of the new path control system is presented. To evaluate the effectiveness of the proposed control system, simulation studies are carried out. The simulation results show that path tracking ability is markedly improved.
一般社団法人日本機械学会の論文
1993-09-25