2自由度制御によるリニアパルスサーボモータ制御系の特性改善 [in Japanese] Improvement of Performance of a Linear Pulse Servo Motor Control System using Two Degrees of Freedom Controller [in Japanese]
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By use of pole position sensor, it becomes possible to drive a linear pulse motor as a servo motor and to reduce the risk of step-out exceedingly.<br>However a linear pulse motor remains the vibrational characteristics itself. Therefore, there is the problem of how to suppress the over shoot and transient vibration of response for step type position reference. In addition, this problem stands out remarkably in heavy load operation.<br>In this paper, we propose a novel method of adjusting the parameters of two degrees of freedom controller which is positively able to take into consideration the suppression of vibrational characteristics of a linear pulse motor. By comparison with conventional PID controller, the improvement of performance of a linear pulse servo motor control system using two degrees of freedom controller are discussed.<br>With the experimental and simulation results, it was made clear that the introduction of two degrees of freedom controller designed by the proposed method not only improves the over shoot and transient vibration of response for step type position reference, but also removes the undesirable characteristic variation by altering the value of load mass in the linear pulse servo motor control system.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 115(3), 269-274, 1995-03
The Institute of Electrical Engineers of Japan