232 加速度入力による多自由度系の高速位置決め制御(位置決め制御,OS-2:運動と振動のモデリングと制御(1))

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  • 232 High Speed Positioning Control of Multi-Degree-of-Freedom System by Acceleration Inputs

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In this paper, the acceleration patterns avoiding the residual vibrations in positioning control are presented. Such patterns can be realized by deciding the time interval between acceleration and deceleration to coincide with the damped natural period or some parameter that defines the shape of pattern to be adequate. Another. Method is the proper repetition of an arbitrary pattern. These strategies can be used at same time, so that they can be applied to the multi-degree-of-freedom systems to eliminate free vibrations with multiple frequencies simultaneously and they can advance the robustness of the system. These features were confirmed by numerical simulations.

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