位置決め性能向上を目指した高精度外乱モデルの構築

摘要

This paper presents a modeling methodology for unknown disturbances in mechatronics systems, based on a disturbance estimation using an iterative learning process. In the disturbance modeling, the nonlinear friction is especially handled as the disturbance in mechanisms, which mainly deteriorates the trajectory control performance. The friction can be mathematically modeled by using the learned estimation data, as a function of displacement, velocity, acceleration, and jerk of the actuator. This model has a distinguished feature that the friction compensation can be achieved with a generalization capability for different conditions. The proposed positioning control approach with the disturbance modeling and compensation has been verified by experiments using a table drive system on machine stand.%様々な情報機器や加工·組立機に代表されるメカトロニrnクス機器では，高集積·高密度化，高付加価値化，さらにrn生産性向上の観点から，高速かつ高精度な位置決め制御がrn重要な要素技術の一つであることは周知である。