各種制御法を用いた送りねじ位置決め系の性能評価(第1報)

基本性能とクーロン摩擦力変動の影響

抄録

Leadscrews are often used for a positioning system with a long working range. In the system, though many kinds of control methods such as PID, state feedback and H_∞ ones are used, which one is the most suitable control method has not been clarified yet. The purpose of this research is to clarify the most suitable control method for the systems theoretically and experimentally. For this purpose, in this paper first, five controllers are designed based on a predefined control performance specification for a ball screw mechanism: the PID controller, the state feedback controller, the fuzzy controller, the sliding mode controller and the H_∞, controller. Then their positioning performances including the positioning accuracy, the positioning time and the repeatability are examined. Moreover, the effect of Coulomb friction force on positioning performance is also examined and evaluated. The results prove the PID control system to perform well generally. The H_∞ controller shows the high repeatability and the high insensitivity to the friction though they did not satisfy the specification. The repeatability and insensitivity of the state feedback control are shown to be worst in all systems.