高速・高精度位置決め制御のためのデータ駆動型ロバスト制振位置指令設計

カテゴリ: 部門大会

論文No: TC8-1-5

グループ名: 【C】2023年電気学会電子・情報・システム部門大会

発行日: 2023/08/23

タイトル(英語): Data-Driven Robust Vibration Suppression Position Command Design for Fast and Precise Positioning Control

著者名: 水溜 和也（名古屋工業大学）,原 渉（名古屋工業大学）,前田 佳弘（名古屋工業大学）

著者名(英語): Kazuya Mizutamari (Nagoya Institute of Technology),Wataru Hara (Nagoya Institute of Technology),Yoshihiro Maeda (Nagoya Institute of Technology)

キーワード: 位置指令設計|ロバスト制振|負荷質量変動|データ駆動|高速・高精度位置決め負荷共振系|position command design|robust vibration suppression|load mass changes|data-driven|fast and precise positioningload resonance systems

要約(日本語): In industrial servo systems that require high-speed and high-accuracy positioning performance, suppressing undesired responses like resonance vibration due to plant perturbations is crucial in control design. This paper presents a novel data-driven method for designing robust vibration suppression position commands to achieve fine settling performance against plant perturbations. The proposed method maximizes the robust vibration suppression performance of existing control systems by predicting and optimizing position responses using experimental data obtained beforehand, following a data-driven control design approach. The detailed design theory is described, and the effectiveness of the proposed method is verified through comparative experiments.