ベクトル分解経路制御

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タイトル別名
  • Path Control with Vector Decomposition
  • ベクトル ブンカイ ケイロ セイギョ

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A new path control method with vector decomposition is proposed in the present paper. In the present study, a motion equation of a multi-axis mechatronic servo system in an orthogonal coordinate system is transformed into a rotational coordinate system and the transformed motion equation can be decoupled and decomposed into gain component and phase component. Both the gain component control system and the phase component control system are constructed independently, and then the tracking performance of the gain component control system is made superior to that of the phase component control system. Thus, high performance path control is realized because the effects of disturbances are absorbed by the phase component control system. In the present method, nearly essential path control can be realized using the unity control coefficient over a wide range, from the curved line path reference to the straight line path reference. The proposed control method is applied to multi-axis linear motor tables, and the effectiveness of this method is confirmed experimentally.

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