Abstract
Positioning control is a fundamental technique common to many mechanisms such as data communication terminals. industrial robots, etc. To implement faster and more accurate positioning control, it is necessary to consider the oscillatory characteristics of the positioning mechanism. From a practical aspect, it is also important to ssure good positioning when parameter variations of the mechanism occur.
First, the positioning control, is evaluated by the amplitude of residual vibrations which are caused by natural frequency variations in the mechanism. The residual vibration characteristics for three basic control loop structures are examined in detail at several design points. These show the necessity for the insensitive design method particularly in the fast region.
Next, for positioning control which is insensitive to parameter variations, an design method. using the multi-design-point system is proposed, and its validity for comparatively large parameter variations is confirmed both numerically and experimentally.
Moreover, a design method using the multidesign-point system is shown to contain the conventional design method using parameter sensitivity functions, and therefore to be a more general design method.
