LMI-based position command design of table systems considering compensation for impact force and interference

Nao Sugiura, Kazuaki Ito, M. Iwasaki
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Abstract

This paper presents a position command design methodology for table drive systems utilizing for a contact operation. In high performance mechatronic systems utilizing for contact operations such as picking up and/or placing on materials, force control is strongly requested to prevent a damage of materials due to impact force. Moreover interference force from other axis deteriorates position control performance. In this paper, the stability condition of the impact force and interference force are clarified, and the linear matrix inequality (LMI) design framework is applied to improve the control performance, where the position command of the system is theoretically designed under the constraints against the impact force and interference. The effectiveness of the proposed design has been verified by experiments using a prototype.
考虑冲击力和干扰补偿的基于lmi的工作台系统位置指令设计
本文提出了一种用于接触操作的工作台驱动系统的位置命令设计方法。在高性能机电系统中,使用接触操作,如拿起和/或放置在材料上,强烈要求力控制,以防止由于冲击力造成材料损坏。此外,来自其他轴的干涉力会使位置控制性能恶化。本文明确了冲击力和干涉力的稳定性条件,采用线性矩阵不等式(LMI)设计框架提高了控制性能,在对冲击力和干涉的约束下对系统的位置指令进行了理论设计。通过样机实验验证了所提设计的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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