計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
位置決め制御系の残留振動特性と複数設定値系による低感度設計
山田 一郎中川 三男
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ジャーナル フリー

1982 年 18 巻 11 号 p. 1059-1066

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抄録
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.
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