複数サーボ系における従軸逆ダイナミクスを用いた主軸位置同期制御法

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タイトル別名
  • A Method of Synchronous Position Control for Multi Servo Systems by Using Inverse Dynamics of Slave Systems
  • フクスウ サーボケイ ニ オケル ジュウジク ギャク ダイナミクス オ モチイ

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抄録

A method of synchronous position control for multi servo systems was proposed. The synchronous position control is required for various works such as tap process of screwing and positioning of multi drive crane. To achive the synchronous position control, the position output of the main servo system was fed back into the position input of the slave servo system. If the position output of the main servo system was directly used to the position input of the slave servo system, the position output of the slave servo system delayed from the position output of the main system because of the dynamics of the slave servo system. Hence, we modify the input of the slave servo system from the position output of the main servo system by using the inverse dynamics of the slave servo system.<br>The effectiveness of the proposed method was assured from the experimental results of the synchronous position control of an X-Y table which was one of the mechanical multi servo systems of 2 degrees of freedom.

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