位置決め性能向上を目指した高精度外乱モデルの構築 Precise Disturbance Modeling for Improvement of Positioning Performance

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This paper presents a modeling methodology for unknown disturbances in mechatronics systems, based on a disturbance estimation using an iterative learning process. In the disturbance modeling, the nonlinear friction is especially handled as the disturbance in mechanisms, which mainly deteriorates the trajectory control performance. The friction can be mathematically modeled by using the learned estimation data, as a function of displacement, velocity, acceleration, and jerk of the actuator. This model has a distinguished feature that the friction compensation can be achieved with a generalization capability for different conditions. The proposed positioning control approach with the disturbance modeling and compensation has been verified by experiments using a table drive system on machine stand.

収録刊行物

  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society  

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 128(6), 742-749, 2008-06-01 

    The Institute of Electrical Engineers of Japan

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被引用文献:  9件

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各種コード

  • NII論文ID(NAID)
    10021134491
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    9532491
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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