目標軌道のオンライン補正に基づく精密位置決め制御

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: 2014/07/01

タイトル(英語): Precise Positioning Control Using On-Line Modification of Reference Trajectory

著者名: 奥山　淳（東海大学工学部精密工学科）

著者名(英語): Atsushi Okuyama (Department of Precision Engineering, Tokai University)

キーワード: 目標軌道，オンライン補正，位置決め制御　　reference trajectory，on-line modification，positioning control

要約(英語): A control method for improving the tracking performance with respect to the reference trajectory has been developed. The proposed control system has an inner/outer control structure. The inner control system is the existing control system based on the conventional PID controller, which is designed in advance, independent of the outer control system. In order to improve the tracking performance, the outer control system is designed based on optimal preview control theory and is added to the outside of the inner control system. The polynomial trajectory is used as the reference trajectory and is fed to the outer control system. The reference trajectory is modified on-line to minimize the tracking error. The modified reference trajectory is derived as a control input signal of the outer control system and is fed to the inner control system. The effectiveness of the proposed control method is confirmed by numerical simulations of the benchmark problem for hard disk drives (HDDs).

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.7 （2014）

本誌掲載ページ: 667-674 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/134/7/134_667/_article/-char/ja/