307 高速高精度駆動のためのタスクの優先順位を考慮した振動モード同相化手法(精密・情報機器の制御II)(OS 精密・情報機器の制御)

概要

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The flexibility of the mechanical system is one of the factors of the bandwidth limitation. Especially, it is known that an out-of-phase vibration mode makes the closed loop unstable with the negative feedback of the positioning error. In this paper, a novel mode shaping method for in-phase design of flexible structures is proposed. We classify in-phase mode shaping into two types based on the boundary passed across during the shaping process. By the proposed method, the out-of-phase modes are shaped into in-phase in order of the natural frequencies applying a task priority based modification scheme. We also propose a method of selecting the boundary, so that the vibration mode is shaped into the arbitrary type of in-phase design.
一般社団法人日本機械学会の論文
2001-04-20