論文

2003年2月25日

ばねダンパ要素を含む2段アクチュエータ系の非定常最適制御

日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C
  • 原 進
  • ,
  • 高橋 昇
  • ,
  • 成清 辰生

69
678
開始ページ
379
終了ページ
386
記述言語
日本語
掲載種別
DOI
10.1299/kikaic.69.379
出版者・発行元
一般社団法人日本機械学会

Nonstationary optimal regulator (NOR) is one of the effective methods for positioning control of vibration systems. NOR corresponds to an LQ regulator utilizing time-varying weighting functions and produces positioning trajectories taking the vibration characteristic of a controlled object into account. Generally, many positioning or tracking mechanisms such as information equipments, machine tools and robots adopt dual-stage actuator systems (DSASs). DSASs consist of coarse and fine actuators and realize efficient and high performance responses. However, the control method for DSASs with mechanical flexibility has not been fully addressed. This study utilizes the NOR technique for positioning control of DSASs taking spring and damping elements of controlled objects into account. We use a proper combination of time-varying weights for this problem. The effectiveness of this method is verified by numerical calculations and experiments.

リンク情報
DOI
https://doi.org/10.1299/kikaic.69.379
CiNii Articles
http://ci.nii.ac.jp/naid/110002378868
ID情報
  • DOI : 10.1299/kikaic.69.379
  • ISSN : 0387-5024
  • CiNii Articles ID : 110002378868
  • identifiers.cinii_nr_id : 1000070231496

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