位置サーボ系における速度PI制御の比例操作量を優先した操作量飽和対策の一構成法

摘要

A robust servo system is important for performance improvement of motion control system in several industry applications. Generally, a high speed positioning servo system consists of robust control systems with integrator, such as PI controller. The industrial servo system always has the limitation for the capacity of actuator and power amplifier.rnAn ordinary industrial position servo system often has the saturation of motor current and motor speed. It is difficult for the high speed positioning servo system to keep the robust position control against the saturation of motor current and motor speed. Because, an ordinary position servo system has the complicated control structure with many control loops. Hence, it sometimes has the large overshoot and the oscillated response by the limitation of motor current and motor speed.rnIn order to overcome this problem, this paper proposes a new robust high speed positioning servo system considering the saturation of torque current and motor speed. The experimental results show that the proposed robust high speed positioning servo system the quick and stable position response for the saturation of motor current and motor speed.%本論文では，位置サーボ系における速度PI制御器の比例rn操作量を優先した操作量飽和村策を新しく提案した。提案rn手法は，飽和量対策のためにPI制御器における積分操作量rnの飽和量を分割し，比例操作量を優先して状態変数の修正rnが行われる。