PTP位置決めのための実用的な制御系の設計と制御特性(機械力学,計測,自動制御)

概要

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This paper describes a simple and practical control method for point to point (PTP) positioning, and the control characteristics with the controller. The controller consists of a nominal characteristic trajectory element and PI ones. The trajectory is determined experimentally based on the open-loop step responses of the plant. PI elements are determined with only the trajectory and the model parameter identification task is not necessary. The controller works so that the plant motion follows the trajectory which includes the actual nonlinearity of the plant. Effect of the control parameters on the performance can be easily understood and the controller design is also easy. The control system characteristics are discussed theoretically and the positioning performance is evaluated experimentally. The experimental results show that the positioning system with the proposed controller has higher robustness to the plant characteristic changes than that with two kinds of PID controllers.
一般社団法人日本機械学会の論文
2001-12-25