128 ピエゾアクチュエータを用いた超高速サーボ系の 2 自由度スライディングモード制御

概要

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This paper is concerned with a study of the high performance realization of electronic engrave technology in filmless photogravure press. Because the system which contains piezoactuator has strong nonlinear characteristics, we used the discrete-time sliding control theory. But only by which, the rise time of the step response can't satisfy the aim. Therefore we applied a design method of Two-degree-of-freedom (TDOF) controller using the dynamical model of the feedback controller. In this method, the reference response achieved by the feedback controller can be improved by the TDOF controller whose order is same as that of the feedback controller. Moreover, this method is extended to use a model transfer funtion. This enable us to design a TDOF controller so that the output of the TDOF system follows the output of the model transfer function^(3). Finally we used sliding mode control with TDOF and realized a good performance.
社団法人日本機械学会の論文
2000-09-01