剛体運動系のモデル獲得と制御 : 第 3 報 H_∞ 制御の組込による軌道追従性能の向上

概要

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This paper proposes a precise tracking control method for a rigid body motion system by obtaining a model of the motion system on line and implementing H_∞ control to improve tracking performance. In order to execute precise tracking control, nonlinearities in the motion system such as variation of inertia, Corioli's force, electromagnetic driving force and gravity should be modeled in the motion control system. Hence, the method of obtaining the models of the motion system is introduced in this study. However, after the models are obtained, there exist modeling errors and unmodeled forces. Therefore, H_∞ control method is introduced to attenuate disturbances due to modeling errors and unmodeled forces. In this paper, effectiveness of the proposed motion control method by a simulation and an experiment of tracking desired trajectory in a direct drive 2-degree-of-freedom link motion system.
一般社団法人日本機械学会の論文
2001-10-25