メカトロニクスシステムの制御ゲイン調整にFRITを適用する場合の実用性検証

―課題の抽出と、その対策の提案―

抄録

In the industrial field, high-speed and high-precision positioning control is required to improve productivity. In order to improve the performance of positioning control, it is necessary to set a control gain suitable for the target machine. As an example of the feedback gain tuning, there is “Iterative Feedback Tuning (IFT)” method, but there are problems such as time for repeated driving. For this reason, we tuned the feedback gain for the mechatronics system using "Fictitious Reference Iterative Tuning (FRIT)". In this method, it is sufficient to drive the target machine only once by performing the offline process. In the experiment, the target gain is decided beforehand, and it is aimed at stable tuning to the target gain by performing five tunings with FRIT. The final experimental result is tuned to a value close to the target gain at all 5 times and shows the usefulness of gain tuning at FRIT for mechatronics system.