外乱オブザーバを併用した電気・油圧サーボ系のスライディングモード制御

第3報 : 3軸パラレルメカニズムにおける目標軌跡追従特性の改善

抄録

This study deals with the trajectory control of a three degree-of-freedom hydraulic parallel mechanism. The hydraulic parallel mechanism is useful in a working field where high power and high accuracy are necessary. In the previous report of this study, applying a sliding mode control to the mechanism by using a disturbance observer, we confirmed through experiments a good response of the end effector. However, the response of each hydraulic servo system was accompanied with a certain magnitude of time delay from the reference input. Therefore, as a method for overcoming this problem, we propose a modified sliding mode control such that the system's transfer function is well represented by a dead time characteristic when the system is in the sliding mode. The dynamic performance of the trajectory control of the designed mechanism was investigated by experiments. As a result, we confirmed the validity of the applied method.