著者

佐藤 俊之 永瀬 純也 嵯峨 宣彦 齋藤 直樹

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.853, pp.17-00142, 2017 (Released:2017-09-25)

参考文献数

24

---

This paper proposes a two-degree-of-freedom control systems design using a preview feedforward controller called zero phase error tracking controller (ZPETC) to improvethe tracking performanceof the disturbance observer-basedPredictive Functional Control (PFC) systems. To this end, we derive a pulse transfer function representation of the PFC controller, which is used for the design of ZPETC, and show some properties of the PFC controller. Then a disturbance observer-based PFC system combined with ZPETC is designed. Several experiments using a single axis table drive system are conducted to validate the effectiveness of the proposed control method. The experimental results show that the tracking error is dramatically reduced compared to the previously-developeddisturbance observer-based PFC.