二次振動要素を含むディジタルサーボ系のサンプリング周期の設計 (第1報)

最適サンプリング周期の設計法

抄録

This paper deals with a digital position servomechanism with one-sample delay including a second-order oscillatory element for providing design criteria of its sampling period. At first, all of parameters in the servomechanism are normalized by using a natural angular frequency of the element, then a relation between a sampling period and a critical control gain with respect to a damping factor of the element is analyzed. As the results of analysis, the design criteria are characterized by the damping factor ζ into two cases. In case of ζ>0.2, the shorter sampling period is desired for its stability as usual discussions. However, in case of ζ<0.2, an unique result is obtained that a nonzero optimal sampling period exists, i. e. a normalized sampling period should be equal to 1.7 for stabilizing the servomechanism. Finally, the results of the analysis are verified by some experiments.