636 スライディングモード補償機能を用いた振動抑制のための高速・高精度位置制御

概要

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To achieve high-speed and high-precision position control for vibration suppression of a tall structure mounted on a carriage system, the feed-forward/back control is widely applied and many control methods have been proposed for such a system. In general, P, PI/I-P control which is one of PID control is applied to a lot of industrial applications. However, in case of changing mechanical character of control target, the parameters of P, PI/I-P control have to be changed for keeping a good motion performance. In this paper, we propose a new PI+FF controller with a nonlinear compensator and the feedforward input reference filtered by using inversed system of the structure on the carriage. It is shown that the filtered reference input is effective for suppressing the structural vibration induced by the carriage motion. The algorithm of nonlinear compensator based on the sliding mode control method with chattering compensation is described in detail.
一般社団法人日本機械学会の論文
2009-08-03