多軸同期制御精度向上のための送り駆動系の制御系設計方法(機械力学,計測,自動制御)

概要

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This paper proposes a controller design method of feed drive systems to improve the multi-axis synchronous accuracy. In the design method, the velocity loop control systems are designed based upon "the Partial Model Matching Method", and the positional loop control systems are designed by using the frequency characteristics of the designed velocity control loops. A feed forward controller which can compensate servo delay is also proposed. Parameters of the proposed controllers can be determined systematically without trial and error. The effectiveness of the proposed method was evaluated through the experiments and simulations. The experiments were carried out by using the X-Y stage system. The effectiveness of the proposed method in the multi-axis synchronous motion including rotary axes was also evaluated by the simulations of multi-axis machining. As the results of the experiments and simulations, it is clarified that the proposed method can greatly improve the synchronous accuracy.
一般社団法人日本機械学会の論文
2007-03-25