制御入力飽和とモデル化誤差を考慮した繰り返し位置決め制御系の初期値補償

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This paper presents a practical residual vibration suppression methodology for the repetitive fast-response and high-precision positioning in laser drilling machines. The authors have already proposed an Initial Value Compensation (IVC) approach using addtional input, where two essential subjects have been remained: one was the input saturation in power amplifier, and the other was the performance deterioration due to the modeling errors. In the paper, improvement approaches in compensators are proposed, where the additional input within the power saturation can be applied to the robust feedback controller. The effectiveness of the proposed compensation has been verified by numerical simulations and experiments using a positioning device for galvano scanners.
社団法人電気学会の論文