ディジタルサーボ機構を用いた延縄用自動餌付け機の位置制御

抄録

This paper introduces a servo mechanism as a baiting machine controller. It is designed for improving performance during high speed shooting. This controller is intended to have quick and accurate responses with regard to position reference, as well as having small speed fluctuations resulting from torque disturbance. For the control algorithm, feedback and feedforward control is applied. The feedback control law consists of proportional plus integral feedback. In order to suppress speed fluctuations, feedforward control is introduced based on observer theory which estimates torque disturbance. This disturbance is mainly due to the cutting of bait. In this paper, we have examined two kinds of servo systems, one is the proportional plus integral feedback (PI) system, and the other adds this feedback to the feedforward (PI+FF) system. The baiting machine control system is realized by a micro-computer. Numerical and experimental results of the two systems indicate that the PI+FF control system exhibits smaller speed fluctuations and faster setting times than those obtained with PI control system alone.