2自由度ロバスト制振位置決め制御系のフィードフォワード・フィードバック補償器の連携設計

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2011/12/01

タイトル(英語): Coordinate Design between Feedforward and Feedback Compensators for Robust 2-Degrees-Of-Freedom Positioning System

著者名: 加藤　孝宜（名古屋工業大学 大学院 情報工学専攻），前田　佳弘（名古屋工業大学 大学院 情報工学専攻），岩崎　誠（名古屋工業大学 大学院 情報工学専攻），平井　洋武（名古屋工業大学 大学院 情報工学専攻）

著者名(英語): Takanori Kato (Department of Computer Science and Engineering, Nagoya Institute of Technology), Yoshihiro Maeda (Department of Computer Science and Engineering, Nagoya Institute of Technology), Makoto Iwasaki (Department of Computer Science and Engineering, Nagoya Institute of Technology), Hiromu Hirai (Department of Computer Science and Engineering, Nagoya Institute of Technology)

キーワード: 共振周波数変動，振動抑制，連携設計，感度特性，高速・高精度位置決め　　resonance frequency perturbation，vibration suppression，coordinate design，sensitivity characteristic，fast and precise positioning

要約(英語): This paper presents a novel design for robust 2-degrees-of-freedom (2-DOF) positioning controller that is robust against frequency perturbations in mechanical vibration modes. The authors have already proposed a coordinate design approach between feedforward (FF) and feedback (FB) controllers for achieving the robust positioning performance. In the conventional design, however, the overshoot and/or undershoot responses at the settling still remained because of variations in the FB control performance in the presence of frequency perturbations, resulting in the deterioration of positioning performance. In this study, therefore, a coordinate design considering the FB control performance is applied to improve the robustness in the positioning performance. The effectiveness of the proposed controller design has been verified by numerical simulations and experiments using a prototype of the galvano scanner.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.131 No.12 （2011）

本誌掲載ページ: 1416-1423 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/131/12/131_12_1416/_article/-char/ja/