PRE-01 PRACTICAL COMMON DESIGN PROCEDURE OF PRECISION POSITIONING CONTROLLER FOR NON-CONTACT AND CONTACT MECHANISMS(MM/Micro/Nano Precision Equipments I,Technical Program of Oral Presentations)

概要

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This paper describes a practical common design procedure for non-contact and contact mechanisms. To this date, many advanced controller design methods have been evaluated for high performance precision motion systems. However, their methods often produce complex structures and require much knowledge of characteristic of controlled objects and their control theories. This deteriorates the practicality of the methods. In order to overcome the problem, we have proposed and studied NCTF (Nominal characteristic trajectory following) controller design method for precision motion. In this paper, the NCTF controller design procedure which is applicable and totally independent of friction characteristic is discussed. The designed input signal for open-loop experiment which is needed to satisfy two important conditions is explained. The common design procedure of the NCTF controller and the designed input signal is verified experimentally by using non-contact [3] and contact mechanisms. The promising results of the positioning performance show the effectiveness of the proposed common design procedure and the usefulness of the designed input signal on the contact mechanism.
一般社団法人日本機械学会の論文
2009-06-17