Design and High Precision Control of an Ultra-high Speed and Large Thrust Next Generation Linear Motion Mechanism

新一代超高速大推力直线运动机构的设计与高精度控制

• 批准号: 16360076
• 负责人: SATO Kaiji
• 金额: $ 9.6万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2004
• 资助国家: 日本
• 起止时间: 2004 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-16360076/
• 关键词: acceleration; high speed; thrust; linear motor; control; positioning; temperature characteristic; robust; 直動メカニズム; 高加速; 規範特性

Linear motion mechanisms are often used for industrial machines. Their acceleration and velocity characteristics directly influence the production efficiency of the machines. The purpose of this research is to design and realize an ultrahigh speed linear motion mechanism that can move at the acceleration higher than 980m/s^2 (100G) and at the velocity higher than 20m/s. For this purpose, the following results have accomplished in this research subject ;(1) An improved movable table of the linear motion mechanism was designed and made experimentally. The experimental linear motion mechanism could move at the acceleration higher than 991m/s^2 (101G) and at the velocity higher than 12m/s.(2) The simulated results show that the linear motion system composed of the improved experimental mechanism and a driving unit of which output electric power is higher than that in the conventional system can move at 20m/s.(3) PTP positioning system for the linear motion mechanism was designed and its positioning performance was evaluated. In the system, a PID compensator including a suitable nonlinear integrator and a phase adjuster are used. Experimental 300mm step responses show that the positioning time and the positioning accuracy were approximate 0.1s and 0.5 micrometers, respectively.(4) The temperature characteristic of the movable table under longtime step motion was measured experimentally. The experimental rise in the temperature was approximate 2 degrees C.(5) The practical control method proposed by the head investigator of this research subject was improved for higher positioning performance. The robust performance was evaluated by simulation.

线性运动机构通常用于工业机器。它们的加速度和速度特性直接影响机器的生产效率。本研究的目的是设计并实现一种加速度大于980 m/s^2（100 G）、速度大于20 m/s的高速直线运动机构。为此，本课题主要完成了以下工作：（1）设计并实验制作了一种改进的直线运动机构移动工作台。实验直线运动机构的运动加速度大于991 m/s^2（101 G），运动速度大于12 m/s。(2)仿真结果表明，由改进后的实验机构和输出电功率高于传统系统的驱动单元组成的直线运动系统可以以20 m/s的速度运动。(3)设计了直线运动机构的PTP定位系统，并对其定位性能进行了评价。在系统中，PID补偿器包括一个合适的非线性积分器和相位调节器。300 mm阶跃响应实验表明，定位时间约为0.1s，定位精度约为0.5 μ m。(4)实验测量了长时间步进运动下动平台的温度特性。温度的实验上升大约是2摄氏度。(5)为了提高定位性能，对本课题研究者提出的实用控制方法进行了改进。通过仿真验证了算法的鲁棒性。

项目成果

Ultra-high Acceleration and High Speed Linear Motor Mechanism which can Move at over 100G and 10m/s

超高加速度高速直线电机机构，移动速度超过100G和10m/s

• 发表时间: 2005
• 期刊: Journal of the Japan Society of Mechanical Engineers Vol.108 No.1044
• 作者: 佐藤海二;佐藤匡将;湯浅浩章;Kaiji Sato
• 通讯作者: Kaiji Sato

高速サーボメカニズムの動向

高速伺服机构的发展趋势

• 发表时间: 2006
• 期刊: 2006年度精密工学会春季大会学術講演会講演論文集
• 作者: K.Obase;Y.Nakamura;佐藤海二
• 通讯作者: 佐藤海二

Acceleration and Velocity Performance of Large Thrust Linear Motor Mechanism

大推力直线电机机构的加速度和速度性能

• 发表时间: 2005
• 期刊: Proceedings of The 17^<th> Symposium on Electromagnetics and Dynamics
• 作者: Kaiji Sato;Tadamasa Sato;Hiroaki Yuasa
• 通讯作者: Hiroaki Yuasa

Antiwindup method for practical positioning control and its effect-Improvement of NCTF control-

实用定位控制的抗饱和方法及其效果-NCTF控制的改进-

• 发表时间: 2004
• 期刊: Proceedings of Semestrial Conference of JSPE (2004 JSPE Autumn Conference)
• 作者: Daiki SHIOZAWA;Shiro KUBO;Takahide SAKAGAMI;Kaiji Sato;Kaiji Sato
• 通讯作者: Kaiji Sato

Trend of Precision Positioning Technology

精密定位技术趋势

• 期刊: Proceedings of the COBEM (CD-ROM)
• 作者: Daiki SHIOZAWA;Shiro KUBO;Takahide SAKAGAMI;Kaiji Sato;Kaiji Sato;山口紗代;Kaiji Sato
• 通讯作者: Kaiji Sato