電気学会論文誌D(産業応用部門誌)
特集論文
ロバスト位置サーボ系の外乱オブザーバによる高速応答化の一構成法
佐沢 政樹大石 潔桂 誠一郎
著者情報
ジャーナル 認証あり

129 巻 (2009) 3 号 p. 235-242

詳細
PDFをダウンロード (1905K) 発行機関連絡先
抄録

A robust servo system is important for the performance improvement of motion control systems in several industrial applications. An ideal position servo system should accelerate the rotor to its rated speed by applying maximum acceleration torque, and it should decelerate the rotor by applying the maximum deceleration torque. The position servo system should stop at the target position without overshoot.
When the position reference profile of the conventional position servo system is not ideal, there are two problems in achieving the ideal high-speed positioning response. One is the windup phenomenon caused by the saturation of the PI speed regulator. The other problem is the slow deceleration response near the target position that is due to the error input of the position servo system becoming small.
In order to overcome these problems, this paper proposes a new robust high-speed positioning servo system based on a disturbance observer. The proposed system corrects the integrator value of the PI speed regulator by using the torque current reference estimated by the disturbance observer. The experimental results show that the proposed robust high-speed positioning servo system has a quick and stable position response.

著者関連情報
© 電気学会 2009
次の記事

閲覧履歴
ジャーナルのニュースとお知らせ
  • 【電気学会会員の方】購読している論文誌を無料でご覧いただけます(会員ご本人のみの個人としての利用に限ります)。購読者番号欄にMyページへのログインIDを,パスワード欄に生年月日8ケタ(西暦,半角数字。例:19800303)を入力して下さい。
ダウンロード
  • 論文(PDF)の閲覧方法はこちら
    閲覧方法 (389.7K)
関連情報

J-STAGEがリニューアルされました!https://www.jstage.jst.go.jp/browse/-char/ja/

feedback
Top