サーボモータに対するサンプル点間を考慮した最適ディジタル制御系設計

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2012/08/01

タイトル(英語): Optimal Digital Controller Design for a Servo Motor Taking Account of Intersample Behavior

著者名: 秋吉　達郎（岡山大学　大学院自然科学研究科），今井　純（岡山大学　大学院自然科学研究科），舩曳　繁之（岡山大学　大学院自然科学研究科）

著者名(英語): Tatsuro Akiyoshi (Okayama University), Jun Imai (Okayama University), Shigeyuki Funabiki (Okayama University)

キーワード: ディジタル制御，最適サーボ系，サンプル点間応答　　Digital Control，Optimal Servo，Intersample behavior

要約(英語): A continuous-time plant with discretized continuous-time controller do not yield stability if the sampling rate is lower than some certain level. Thus far, high functioning electronic control has made use of high cost hardwares which are needed to implement discretized continuous-time controllers, while low cost hardwares generally do not have high enough sampling rate. This technical note presents results comparing performance indices with and without intersample behavior, and some answer to the question how a low specification device can control a plant effectively. We consider a machine simulating wafer handling robots at semiconductor factories, which is an electromechanical system driven by a direct drive motor. We illustrate controller design for the robot with and without intersample behavior, and simulations and experimental results by using these controllers. Taking intersample behavior into account proves to be effective to make control performance better and enables it to choose relatively long sampling period. By controller design via performance index with intersample behavior, we can cope with situation where short enough sampling period may not be employed, and freedom of controller design might be widened especially on choice of sampling period.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.132 No.8 （2012） 特集：光・量子ビームによるナノダイナミクス

本誌掲載ページ: 1384-1389 p

原稿種別: 資料／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/132/8/132_1384/_article/-char/ja/