ボールねじ駆動ステージの周波数整形型スライディングモード制御 : CNC画像測定システムへの適用(機械力学,計測,自動制御)

概要

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In CNC Video Measuring System, very low speed motion is needed as well as high speed motion. Very low speed motion is highly influenced by friction. Currently, we use the PID Control with Look-up table gain to cope with this problem. However the process of developing this table tends to be a trial-and-error one. In this paper, we tried the Model-Based Controller Design. First, we made the model for control system design to use subspace method which is one of the algorithm in System Identificatin technique. Then, we designed the sliding mode controller with frequency shaped hyperplane and applied it to the real machine. Now we have achieved both the strong attenuation of disturbance in low frequency and the stability in high frequency using this technique.
社団法人日本機械学会の論文
2007-04-25