0123 マルチセグメント・スライディングモード法によるクーロン摩擦を有するボールネジ駆動装置の高精度位置決め制御(G10-4 動的設計,G10 機械力学・計測制御)

概要

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This paper deals with a positioning control of a ball-screw driven system. The objective is to control the motion specified by a trapezoidal velocity profile and to achieve the highly accurate positioning, using multi-segment sliding mode control method. The multi-segment switching functions are designed to satisfy the state trajectories corresponding to the trapezoidal velocity profile. The proposed control method is applied to the system driven by an AC servomotor to verify its control performances. The experimental results show that the proposed technique is applicable to the acceleration and deceleration motion even in the range of 2gm/s^2 (g is the gravitational acceleration) and effectively suppresses a position error as well as an overshoot in comparison with the conventional PID control techniques.
社団法人日本機械学会の論文
2007-09-07