フレキシブルアームに対するノッチフィルタを用いたサーボ系の設計法とその応用

概要

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In this paper, we propose a new design method of frequency dependent servo system for the positioning of flexible structures. In order to reduce the sensor costs and to suppress spillover phenomena which are caused by ignored elastic modes of the plant, we introduce a pre-filter into an input which possesses characteristics of notch filter. The proposed method enables to design specified characteristics of the pre-filter and to assign poles to desirable locations of a closed loop system exactly. As a result, it enables to solve trade-off problem between suppression and transient. Some results of simulation and experiment are given in order to verify the usefulness of our method.