複数ストローク条件とコントローラの実装コスト低減を考慮したフィードフォワード・フィードバック補償器の同時最適化設計

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: 2014/02/01

タイトル(英語): Simultaneous Optimization of Feedforward and Feedback Compensators Considering Multi-Stroke Conditions and Cost Reduction in Controller Implementation

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，ロバスト振動抑制，複数ストローク，実装コスト，2自由度制御，高速・高精度位置決め　　resonance frequency fluctuation，robust vibration suppression，multi-stroke，implementation cost，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 a 2-degree-of-freedom (2-DOF) position control system. The authors have already proposed a simultaneous optimization scheme for the 2-DOF control system whose positioning performance is robust against resonance frequency fluctuations in the plant system. However, the conventional approach requires a higher-order FB compensator for each stroke condition, which increases the controller implementation cost. An efficient simultaneous design approach, therefore, is required from the standpoint of industrial applications. In this study, the conventional simultaneous design scheme is applied to multi-stroke conditions to reduce the number of FB compensators. In addition, the optimized FB compensators are approximated as low-order compensators to reduce the implementation cost. The effectiveness of the proposed approach has been verified through numerical simulations and experiments using a laboratory prototype of a galvano scanner.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.2 （2014）

本誌掲載ページ: 220-228 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/134/2/134_220/_article/-char/ja/