フィードフォワード・フィードバック補償器の連成設計による2自由度ロバスト制振位置決め制御系の設計

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: 2013/03/01

タイトル(英語): Robust 2-Degrees-Of-Freedom Vibration Suppression Controller Design Based on Simultaneous Optimization between Feedforward and Feedback Compensators

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，同時最適化，2自由度制御，高速・高精度位置決め　　resonance frequency perturbation，vibration suppression，simultaneous optimization，2-degree-of-freedom control，fast and precise positioning

要約(英語): This paper presents a novel simultaneous optimization between feedforward (FF) and feedback (FB) compensators in 2-degree-of-freedom (2-DOF) positioning systems for robust vibration suppression control against frequency perturbations of mechanical vibration modes. The authors have already proposed a coordinate design between the FF and the FB compensators of the 2-DOF controller to improve the robust properties in the positioning. In the conventional approach, however, residual vibrations due to the frequency perturbations still remained after the settling because the conventional coordinate design was a quasi-optimization of the 2-DOF controller. In this study, therefore, a simultaneous optimization is adopted to suppress the residual vibration. The effectiveness of the proposed controller design has been verified by numerical simulations and experiments using a prototype of a galvano scanner.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.3 （2013） 特集：産業計測制御全般

本誌掲載ページ: 290-299 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/133/3/133_290/_article/-char/ja/