最適レギュレータによる位置決め整定と残留振動抑制の一手法

概要

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Positioning control of vibration systems such as flexible structures is one of the most fundamental technologies for mechanical structures. Different from feedforward control based methods, the use of LQ optimal regulator realizes the feedback control of vibrating parts of a controlled object. However, if the standard LQ optimal regulator is applied to long distance positioning problems, it requires much control energy in motion starting and the positioning error becomes large in settling. Therefore, its use is suitable for positioning settling and residual vibration reduction control in short distance problems. Taking such a background into account, this study proposes a control method switching from a simple feedforward access control technique to the LQ optimal regulator. Especially, this paper mentions a proper switching method of the two control modes. The proposed method does not require much computational load in comparison with the author's conventional methods and is practical for many industry applications. The effectiveness of the proposed method is verified by numerical calculations and experiments.
一般社団法人日本機械学会の論文
2009-12-25