書誌事項
- タイトル別名
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- Realization of Acceleration Control Using Multirate Sampling Method
- マルチレートサンプリング シュホウ オ モチイタ カソクド セイギョケイ ノ ジツゲン
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This paper focuses on realization of high performance motion control based on acceleration control. Characteristics of acceleration control are investigated and the relationship between the performance and sampling frequency of the system is discussed. It is then described that a higher sampling frequency is required for acquisition of output information than for update of the input value. Based on the consideration, a new multirate sampling method for the acceleration control system is proposed. Disturbance observer for the multirate system is designed by adopting a new definition of disturbance torque. A bilateral system is introduced as a preeminent example of the system that requires robust acceleration control. Both simulations and experiments are performed on the system, and the validity of the proposition is verified by the results.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 126 (3), 261-268, 2006
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679635673216
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- NII論文ID
- 10017276486
- 30011600256
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 7857830
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可