精密定位系统H/sub /spl / in//控制器的设计

SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers Pub Date : 1995-07-26 DOI:10.1109/SICE.1995.526669

A. Yamauchi, T. Murakami, A. Morán, M. Hayase

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引用次数: 0

摘要

采用H/sub /spl / infin//控制理论，设计了具有共振和库仑摩擦的定位机构控制系统，并通过计算机仿真和实验分析验证了其控制性能。采用标量加权因子DGKF型H/sub /spl infin//控制和基于积分作用的频率相关加权函数GD型H/sub /spl infin//控制进行控制系统设计。研究结果表明:(1)H/sub /spl / in//控制在库仑摩擦等外部扰动存在的大范围工况下具有良好的鲁棒性。(2) DGKF型H/sub /spl infin//控制器比GD型H/sub /spl infin//控制器具有更好的收敛性和鲁棒性。

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Design of H/sub /spl infin// controller for precise positioning system

The control system of a positioning mechanism with resonance and Coulomb friction has been designed using H/sub /spl infin// control theory, and the control performance has been verified by computer simulation and experimental analysis. DGKF type H/sub /spl infin// control with scalar weighting factors and GD type H/sub /spl infin// control with frequency-dependent weighting function based on integral action were utilized for designing the control system. The followings have been confirmed from this study: (1) H/sub /spl infin// control has good robustness properties for a wide range of operating conditions in the presence of external disturbances such as Coulomb friction. (2) DGKF type H/sub /spl infin// controller presents better convergence and robustness properties than GD type H/sub /spl infin// controller.

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来源期刊

SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers

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