位置決め装置における入力部非線形特性補償を考慮に入れたロバスト適応制御系の設計と実験による検証

抄録

In this paper, we show the effectiveness of our proposed adaptive H^∞ contro l method for the positioning mechanism which is widely used in the manufacturing field. In general, positioning mechanism is composed by a servo motor, coupling, ball-screw, and table. But unfortunately, we can not identify the characteristics of coupling and ball-screw, in precisely. It is very serious problem for the precision positioning control of table. If we assume that the unknown characteristics of coupling and ball-screw are input uncertainty for the table, then our proposed adaptive controller is effective to compensate for such an uncertainty. Experimental results are given to show the usefulness of our proposed method in the sense of practical applications.