時変柔軟構造物の構造的不確かさを考慮したロバスト位置決め入力の設計(<小特集>運動と振動の制御の21世紀への新展開)

概要

論文の詳細を見る
A simultaneous control for vibrations and positions of a controlled object is demanded in the fast-moving machine with a flexible structure such as cranes, transport systems and positioning machines in a plane. Particularly, the positioning machine in a plane has the mass distribution which varies due to a positioning command, thus, it is classified into a time-varying system. This paper presents a synthesis method of the robust input to control simultaneously the position and vibration of the time-varying flexible structures. It is supposed in this paper that the fast positioning machine in plane as the controlled object has the actuator system with a servo mechanism which follows the position or velocity command as a feedfoward control input. And the command is then calculated by the numerical calculation which simulates the feedback control by using the nonstationary robust controller designed by the generalized plant with structured uncertainties. Furthermore, this paper provides a practical methodology so that the command is independent from positioning distance and a schedule and it is also installed into hardware with the reduction of the required memory amount and computing load by the approximation of the command using the Fourier bases. The performance and robustness of the proposed input are examined through the numerical calculation compared with those of a command shaped input. And then the usefulness of the proposed input and the procedure of its installation are obtained.
社団法人日本機械学会の論文
2006-09-25

時変柔軟構造物の構造的不確かさを考慮したロバスト位置決め入力の設計(<小特集>運動と振動の制御の21世紀への新展開)

スポンサーリンク

概要

著者

関連論文

スポンサーリンク