制振加速度起動制御を用いた振動自由度を有する位置決め機構の制振アクセス制御

抄録

This paper describes a vibrationless access control which eliminates endpoint vibration of a positioning mechanism with multi-degree-of-vibration-freedom. The proposed access control is composed of four vibrationless acceleration control regions, two constant acceleration regions and one constant velocity region. Arbitrary access strokes can be realized by changing the periods of constant acceleration regions and the constant velocity region. Minimum energy vibrationless control input and corresponding motion trajectory are theoretically derived. The validity of the proposed access control is demonstrated with computer simulation results and experimental results. A combined control of control point velocity tracking feedback together with feedforward control is recommended in an actual application. New velocity tracking feedback control is also proposed, which is equivalent to the combination of feedforward and feedback control and is effective in suppressing vibration under a low feedback gain condition.