624 時変柔軟構造物の不確かさを陽に考慮した位置決めおよび振動の非定常ロバスト制御

概要

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Simultaneous control for position and vibration is demanded in the rapid positioning machine with flexible structure such as crane and transport systems in factory automation. Furthermore, the mass distribution, whose the positioning machine in XY plane, varies due to the positioning command, hence, it is classified into a time-varying system. This paper presents the simultaneous control of the rapid positioning and vibration for the flexible structure by the nonstationary robust control method with considering the time-varying characteristics of the controlled object and uncertainties due to its parameter variation. The good performance and robustness of the proposed method are shown through the numerical calculation.
社団法人日本機械学会の論文
2005-08-22