CONTROL OF HIGH PRECISION SERVO-SYSTEM USING LEARNING METHOD

利用学习方法控制高精度伺服系统

• 批准号: 63550302
• 负责人: NAKANO Michio
• 金额: $ 1.34万
• 依托单位: TOKYO INSTITUTE OF TECHNOLOGY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1987
• 资助国家: 日本
• 起止时间: 1987 至 1989
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-63550302/
• 关键词: LEARNING PROCESS; REPETITIVE CONTROL; LOAD INSENSITIVE CONTROL; HIGH PRECISION CONTROL; POSITIONING SERVO-SYSTEM; PARAMETER VARIATION; CONTROL OF ELECTRIC MACHINERY; FEED-FORWARD Control; 学習過程; くり返し制御; サーボモータ; フィードフォワード制御; パラメータ変動

High precision and good command response are the most important performance of rotation control system. It is often the case where some rotational angle dependent disturbance occur and cause the rotational speed fluctuation which hinder us from improving the precision of rotational control systems.In order to attenuate this kind of disturbances, a number of methods, such as designing a repetitive controller in time domain, have been developed. These methods are, very effective on the specified rotational speed, but the effectiveness is not significant in general case.In this report, we consider the problem of rejecting the rotational angle dependent disturbances in rotation control systems. A new method is proposed by noticing the fact that this kind of disturbances is cyclic function of rotational angle. The design is carried out in the angle domain by sampling with a certain angle interval.First, a two-degree-of-freedom controller including a repetitive sub-controller is designed to reject such disturbances and obtain a satisfactory response to a command input. Secondly, another controller is installed inside the two-degree-of freedom control to reduce the variation of the input-output characteristics of the system. Finally, the design approach is applied to a first order rotation system. It has been shown by the results of the simulation of the designed system that the present method brings an expected effect.

高精度和良好的指令响应是旋转控制系统最重要的性能。通常情况下，会出现一些转角相关的扰动，引起转速波动，阻碍了旋转控制系统精度的提高。为了减小这类干扰，人们提出了许多方法，如设计时域重复控制器。这些方法在特定转速下是非常有效的，但在一般情况下效果并不显著。在本报告中，我们考虑了在旋转控制系统中抑制转角相关扰动的问题。注意到这类扰动是旋转角的循环函数，提出了一种新的方法。采用一定角度间隔采样的方法在角度域内进行设计。首先，设计了包含重复子控制器的二自由度控制器来抑制此类干扰并获得对命令输入的满意响应。其次，在二自由度控制内部安装另一个控制器，以减小系统输入输出特性的变化。最后，将设计方法应用于一阶旋转系统。设计系统的仿真结果表明，该方法取得了预期的效果。