階層学習制御を用いた低感度位置制御システム

概要

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In this paper, a low sensitive position control system driven by a dc servo motor using a learning identifier is proposed. The low sensitive position control system is designed for the change of moment of inertia and the learning identifier is used to make up the inverse system of the low sensitive system. The responses of the system are investigated experimentally. Moreover, these responses are compared with the responses of a proportional position control system using the learning identifier.<BR>As a result, it is confirmed that the responses of the proposed system are significantly improved by the learning identifier and have low sensitivity for the large change of moment of inertia about fourteen times as large as that of the motor itself. Therefore, the proposed system has a good responsibility for the change of moment of inertia without re-learning.
システム制御情報学会の論文