ピエゾアクチュエータを用いた超高速サーボ系の二自由度離散時間スライディングモード制御(機械力学,計測,自動制御)

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 and the sampling frequency of the system is not very high in comparison with the control region, we used the discrete-time sliding control theory and proposed a new nonlinear control input to overcome the nonlinear characteristics of the system. However, the rise time of the step response can't satisfy the specification of the control system. Therefore we applied a design method of Two-degree-of-freedom (2DOF) 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 2DOF controller whose order is same as that of the feedback controller. Moreover, this method is extended to use a model transfer function. This enable us to design a 2DOF controller so that the output of the 2DOF system follows the output of the model transfer function. Finally we used sliding mode control with 2DOF and realized a good performance.
社団法人日本機械学会の論文
2001-12-25