JP5028630B2 - 位置決め機構の制御方法および制御装置 - Google Patents
位置決め機構の制御方法および制御装置 Download PDFInfo
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- JP5028630B2 JP5028630B2 JP2008505064A JP2008505064A JP5028630B2 JP 5028630 B2 JP5028630 B2 JP 5028630B2 JP 2008505064 A JP2008505064 A JP 2008505064A JP 2008505064 A JP2008505064 A JP 2008505064A JP 5028630 B2 JP5028630 B2 JP 5028630B2
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- positioning mechanism
- friction
- state estimator
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B5/00—Anti-hunting arrangements
- G05B5/01—Anti-hunting arrangements electric
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- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
- Vehicle Body Suspensions (AREA)
- Paper (AREA)
- Automatic Control Of Machine Tools (AREA)
Description
Claims (2)
- 位置決め機構の共振振動に対して当該位置決め機構の既約分解表現に基づいたフィードフォワード補償を行うとともに、前記位置決め機構のむだ時間および非線形摩擦に対して状態推定器によるフィードバック補償を行い、かつ、前記状態推定器が推定遅れを生じる前記位置決め機構の始動時には、当該位置決め機構の転がり摩擦の動特性モデルから得られる摩擦推定値を直接前記状態推定器の出力とするようにした位置決め機構の制御方法。
- 位置決め機構の共振振動に対して当該位置決め機構の既約分解表現に基づいたフィードフォワード補償を行う補償器と、前記位置決め機構のむだ時間および非線形摩擦に対してフィードバック補償を行う状態推定器と、当該状態推定器が推定遅れを生じる前記位置決め機構の始動時には、当該位置決め機構の転がり摩擦の動特性モデルから得られる摩擦推定値を直接前記状態推定器の出力とする過渡出力手段とを備える位置決め機構の制御装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008505064A JP5028630B2 (ja) | 2006-03-07 | 2007-03-06 | 位置決め機構の制御方法および制御装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006060825 | 2006-03-07 | ||
JP2006060825 | 2006-03-07 | ||
PCT/JP2007/054250 WO2007105527A1 (ja) | 2006-03-07 | 2007-03-06 | 位置決め機構の制御方法および制御装置 |
JP2008505064A JP5028630B2 (ja) | 2006-03-07 | 2007-03-06 | 位置決め機構の制御方法および制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2007105527A1 JPWO2007105527A1 (ja) | 2009-07-30 |
JP5028630B2 true JP5028630B2 (ja) | 2012-09-19 |
Family
ID=38509361
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008505064A Active JP5028630B2 (ja) | 2006-03-07 | 2007-03-06 | 位置決め機構の制御方法および制御装置 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1993007B1 (ja) |
JP (1) | JP5028630B2 (ja) |
AT (1) | ATE522847T1 (ja) |
WO (1) | WO2007105527A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4920612B2 (ja) * | 2008-02-07 | 2012-04-18 | 株式会社ハーモニック・ドライブ・システムズ | アクチュエータの角度伝達誤差補償方法 |
TW200943318A (en) * | 2008-03-06 | 2009-10-16 | Nat University Corp Yokohama Nat University | Control apparatus, positioning apparatus, control method, and measuring apparatus |
US8027112B2 (en) | 2009-10-30 | 2011-09-27 | Hitachi Asia Ltd. | Low frequency booster for RV/shock/friction disturbance rejection |
JP2011227734A (ja) * | 2010-04-20 | 2011-11-10 | Tokai Rika Co Ltd | 入力装置 |
DE112011105942T5 (de) * | 2011-12-13 | 2014-09-11 | Toyota Jidosha Kabushiki Kaisha | Hydrauliksteuerungssystem für ein Automatikgetriebe |
JP5947732B2 (ja) * | 2013-02-25 | 2016-07-06 | 国立大学法人 東京大学 | 制御システム、外乱推定システム、制御方法、制御プログラム及び設計方法 |
JP6214948B2 (ja) * | 2013-07-12 | 2017-10-18 | 三菱重工業株式会社 | 摩擦補償装置及び摩擦補償方法並びにサーボ制御装置 |
JP6966062B2 (ja) * | 2017-01-31 | 2021-11-10 | 国立大学法人 名古屋工業大学 | 周波数応答解析アルゴリズム |
JP7068870B2 (ja) * | 2018-03-09 | 2022-05-17 | 三菱重工業株式会社 | 制御装置、制御方法及びプログラム |
CN110794678B (zh) * | 2019-11-05 | 2021-07-30 | 燕山大学 | 一种磁滞非线性受限下的四通道遥操作力反馈控制方法 |
CN110989353B (zh) * | 2019-12-17 | 2021-01-19 | 华南理工大学 | 一种周期扰动观测器的设计方法 |
WO2024047974A1 (ja) * | 2022-08-31 | 2024-03-07 | 株式会社豊田自動織機 | 周波数応答関数同定システム |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09282008A (ja) * | 1996-04-15 | 1997-10-31 | Fuji Xerox Co Ltd | サーボ制御装置 |
JPH10283034A (ja) * | 1997-04-01 | 1998-10-23 | Ricoh Co Ltd | 位置決め制御装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3621278B2 (ja) * | 1998-12-10 | 2005-02-16 | 三菱電機株式会社 | サーボ制御装置 |
JP2003076425A (ja) * | 2001-09-05 | 2003-03-14 | Yamazaki Mazak Corp | 送り駆動系の制御装置 |
JP3943061B2 (ja) * | 2003-08-22 | 2007-07-11 | 三菱電機株式会社 | サーボ制御装置 |
-
2007
- 2007-03-06 AT AT07715218T patent/ATE522847T1/de not_active IP Right Cessation
- 2007-03-06 JP JP2008505064A patent/JP5028630B2/ja active Active
- 2007-03-06 EP EP07715218A patent/EP1993007B1/en not_active Not-in-force
- 2007-03-06 WO PCT/JP2007/054250 patent/WO2007105527A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09282008A (ja) * | 1996-04-15 | 1997-10-31 | Fuji Xerox Co Ltd | サーボ制御装置 |
JPH10283034A (ja) * | 1997-04-01 | 1998-10-23 | Ricoh Co Ltd | 位置決め制御装置 |
Also Published As
Publication number | Publication date |
---|---|
EP1993007A4 (en) | 2010-07-14 |
EP1993007A1 (en) | 2008-11-19 |
WO2007105527A1 (ja) | 2007-09-20 |
JPWO2007105527A1 (ja) | 2009-07-30 |
ATE522847T1 (de) | 2011-09-15 |
EP1993007B1 (en) | 2011-08-31 |
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