Continuous Path Tracking Control by Considering Voltage Saturation and Current Saturation for AC Servo Motor
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- Sazawa Masaki
- Nagaoka University of Technology
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- Ohishi Kiyoshi
- Nagaoka University of Technology
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- Katsura Seiichiro
- Keio University
Bibliographic Information
- Other Title
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- ACサーボモータの電圧飽和と電流飽和を考慮した連続軌跡追従制御系の一構成法
- AC サーボモータ ノ デンアツ ホウワ ト デンリュウ ホウワ オ コウリョ シタ レンゾク キセキ ツイジュウ セイギョケイ ノ イチ コウセイホウ
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Abstract
Continuous path tracking control is an important technology for the position control system such as factory automation field. Particulaly, large torque is required for continuous path tracking control at its start position and its goal position. Each AC servo motor of continuous path tracking control have limitation of current and voltage. Therefore, in controlling a multi-degree-of-freedom continuous path tracking control system, even if only the motor torque of one axis has the current limitation, the actual position response is not often equal to the desired trajectory reference. In order to overcome these problems, this paper proposes a new continuous path tracking control algorithm by considering both the saturation of voltage and current. The proposed method assures the coordinated motion by considering the saturation of voltage and current. The effectiveness of the proposed method is confirmed by the experimental results in this paper.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 129 (8), 834-843, 2009
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679634050688
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- NII Article ID
- 10025102380
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 10395299
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed