リニアスライダ機構におけるフィードバック制御の安定性判別法

抄録

Mechanical control can be made stable by taking into consideration mechanical resonance frequency and antiresonance frequency. A mechanical structure has different characteristics at each location at which force is applied and measuring location. The characteristics are different due to resonance frequency and antiresonance frequency. Antiresonance frequencies are determined by zero amplitude of dynamic behavior. Furthermore, their frequencies affect the control stability. This paper presents a method to distinguish between control stability and instability of the linear slider mechanism. In this method, control stability is distinguished to calculate the damping value of a multi-degree-of-freedom mechanism with control. Control algorithms are applied to positive acceleration feedback control and negative velocity feedback control.