直流サーボモータによるカム曲線の出力 (第3報)

ポリダイン曲線による位置決め

抄録

Several kinds of cam motion curves have been utilized to the high speed positioning or the contour tracing. To realize the same performance by servo motors, the bangbang or the optimum control and others are applied recently. This paper describes the feedforward methods to obtain the same high speed positioning as the mechanical cam motion by applying the inverse transfer function compensation for DC motor driving system with one degree of freedom vibration load, giving the Polydyne motion curve inputs. By this method to give the dwell-risedwell polynomial motion curve with continuous velocity, accelaration and the other higher order differential at start and final points, the output loads are able to be obtained the positioning at arbitrary setting conditions without the feedback from the load. By the adequate selection of Polydyne curves on the basis of the residual vibrating characteristics, the positioning stable for parameter variations are clarified to be obtained.