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大型ガントリ型リニアモータスライダの制御モデルに関する研究

大型ガントリ型リニアモータスライダの制御モデルに関する研究

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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: 2017/10/01

タイトル(英語): Control Model for Large-sized Gantry Type Liner Motor Slider

著者名: 小代 哲也(九州工業大学大学院 生命体工学研究科 生命体工学専攻),本田 英己(九州工業大学大学院 生命体工学研究科 生体機能応用工学専攻),鶴田 和寛(九州産業大学 理工学部 機械工学科),花本 剛士(九州工業大学大学院 生命体工学研究科 生体機能応用工学専攻)

著者名(英語): Tetsuya Ojiro (Department of Life Science and Systems Engineering, Graduate School of Life Scinece and Systems Engineering, Kyushu Institute of Technology), Hideki Honda (Department of Biological Functions Engineering, Graduate School of Life Scinece and Systems Engineering, Kyushu Institute of Technology), Kazuhiro Tsuruta (Department of Mechanical Engineering, Faculty of Science and Engineering, Kyushu Sangyo University), Tsuyoshi Hanamoto (Department of Biological Functions Engineering, Graduate School of Life Scinece and Systems Engineering, Kyushu Institute of Technology)

キーワード: 大型ガントリ型リニアモータスライダ,歪み,干渉,制御モデル  large-sized gantry type liner motor slider,distortion,coupling,control model

要約(英語): At present, many industrial carrier devices utilize linear motor sliders. However, a heavier load requires a linear motor (which is an example of a direct drive device) to get higher power, compared with a rotary motor with a ball screw slider (which is an example of an indirect drive device). In order to obtain higher power at a lower cost, a linear slider with multiple motors can be utilized, for example, a gantry type linear motor slider. Moving the gantry type slider requires two linear motors that are set up in parallel to enable synchronization control. Some conventional synchronization control methods have been proposed for the parallel twin linear slider; however, a large scaled gantry type linear motor slider has two unique problems: mechanical distortion caused by the limitations of installation environment and coupling caused by joints with low stiffness. This paper proposes a control model to solve these problems, and an identification method of each parameter. Furthermore, the effectiveness of the control model is verified by comparison with simulation results and experimental results.

本誌: 電気学会論文誌D(産業応用部門誌) Vol.137 No.10 (2017)

本誌掲載ページ: 746-752 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/137/10/137_746/_article/-char/ja/

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