高分解能エンコーダの適用による駆動側情報を用いない2慣性系の制振制御法

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: 2015/03/01

タイトル(英語): Vibration Suppression Control of Two-Inertia System without Using Drive-Side Information by Applying High-Resolution Encoder

著者名: 山田　翔太（東京大学大学院新領域創成科学研究科），藤本　博志（東京大学大学院新領域創成科学研究科），堀　洋一（東京大学大学院新領域創成科学研究科）

著者名(英語): Shota Yamada (Graduate School of Frontier Sciences, The University of Tokyo), Hiroshi Fujimoto (Graduate School of Frontier Sciences, The University of Tokyo), Yoichi Hori (Graduate School of Frontier Sciences, The University of Tokyo)

キーワード: 高速高精度位置決め，2慣性系，状態フィードバック制御，高分解能エンコーダ，コロケーション　　fast and precise positioning，two-inertia system，state feedback control，high-resolution encoder，collocation

要約(英語): The developments in position control methods have enabled us to obtain a rapid response or high control bandwidth for improving control performance. However, there is an emerging problem in which a control system with a high control bandwidth may excite mechanical vibration, which deteriorates control performance. This is the case especially in a mechanism that has a flexible joint between the motor and the load, such as the feeding tables of machine tools, the arms of industrial robots, and rolling mills. Therefore, there is a strong demand for vibration suppression control with a high control bandwidth while maintaining productivity. For high-precision control of a two-inertia system, the position information of both the motor side and load side is usually required to obtain a high control bandwidth. In order to reduce the implementation cost and space, a novel control method, which employs the load-side information only, is proposed using a high-resolution encoder. Simulation and experimental results demonstrate that the proposed method is implementable and exhibits good control performance.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.3 （2015） 特集：産業計測制御，メカトロニクス制御

本誌掲載ページ: 212-219 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/135/3/135_212/_article/-char/ja/