経路誤差平面内の誤差ベクトルを考慮した3次元経路制御

概要

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We propose a method for path control in three-dimensional space which takes into consideration the error vector in path error plane. A search is performed for a desired point located at a minimum distance from the present position, and a straight line that connects the previous and subsequent points serves as a baseline. Considering multi-axial mechanical systems, the equations of motion in an orthogonal coordinate system are transformed into a rotating coordinate system. The transformed system can be decoupled and decomposed into a component in the movement direction and a component represented the plain containing the path error vector. Therefore, the direction of the error vector is controlled together with its magnitude. From a practical viewpoint, control of both the direction and magnitude of the error vector enables more efficient path control as compared with cases where only the magnitude of the error is controlled. Moreover, compensation for the desired moving signal is added to the component in the movement direction in order to compensate for delays in time response, and the compensation of the terms of second-order differential coefficients is also added by using disturbance observers. The effectiveness of the proposed method is confirmed experimentally by successfully applying it to a multi-axis linear motor table.