駆動側と負荷側情報を有効に利用するフィードバック制御器の周波数応答データによる自動設計法

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: 2019/11/01

タイトル(英語): Frequency Response Data-based Feedback Controller Auto-tuning Method Utilizing both Collocated and Non-collocated Sensors

著者名: 大西　亘（東京大学大学院工学系研究科）

著者名(英語): Wataru Ohnishi (Graduate School of Engineering, The University of Tokyo)

キーワード: 自己共振相殺制御，制御器自動設計，データベース設計，周波数応答　　self resonance cancellation control，feedback controller auto-tuning，data-based design，frequency response

要約(英語): In motion control applications, such as machine tools and high-precision positioning stages for the semiconductor or flat panel industry, it is becoming common to place sensors on not only the motor side (collocated side) but also the load side (non-collocated side). The load side information enables compensation of transmission dynamics, such as friction or backlash. However, due to the phase lag of the load side frequency characteristics, it is difficult to increase the feedback bandwidth. To address this problem, this paper proposes a frequency response data-based feedback controller design method utilizing both collocated and non-collocated sensors. Experimental results demonstrate that the proposed method effectively suppresses the input disturbance. Moreover, the proposed optimization requires less calculation time compared with nonlinear optimization with random initial values and achieves better performance.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.139 No.11 （2019）

本誌掲載ページ: 924-932 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/139/11/139_924/_article/-char/ja/