3323 バックステッピング制御適用による高性能DCモータ位置決め制御(非線形制御理論とその応用(2))

概要

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According to the internal model principle, the integral compensator is generally necessary for the servo system such as DC Motor tracking control. However this integral compensator becomes one of the causes of the overshoot or stick slip. To overcome this problem, we applied Backstepping that does not require the integral compensator for tracking control. Consequently in case of the friction force of the system was small, the desired performance was gotten. However in case of the friction force was large, the chattering problem occurred, because the high gain input was required to track. So we added the friction compensation to the input based on Backstepping. Then we could get the desired performance that is superior to the LQI.
社団法人日本機械学会の論文
2007-08-08