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Study of Lonlinear Control of Pecision Positioning Systems

Research Project

Project/Area Number 04452158
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionTokyo Metoropolitan University

Principal Investigator

WATANABE Atsushi  Tokyo Metoropolitan Unive., Technology, Professor, 工学部, 教授 (70167104)

Co-Investigator(Kenkyū-buntansha) MORONUKI Nobuyuki  Tokyo Metoropolitan Unive., Technology, Assc. Professor, 工学部, 助教授 (90166463)
KAWATA Siichi  Tokyo Metoropolitan Unive., Technology, Assc. Professor, 工学部, 助教授 (20152960)
Project Period (FY) 1992 – 1993
Project Status Completed (Fiscal Year 1993)
Budget Amount *help
¥5,400,000 (Direct Cost: ¥5,400,000)
Fiscal Year 1993: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1992: ¥5,000,000 (Direct Cost: ¥5,000,000)
Keywordshigh precision positioning / servo control / variable structure / sliding mode / PID control / state feedback control / control design / optical linear encoder / 状態フィードバック / 位置ぎめ制御 / 非線形制御 / 可変構造制御 / パルス制御 / スライディングモード
Research Abstract

Precision of a positioning unit is heavily influenced by coulomb friction and backlash which exist in the mechanism of the positioning system. Dimension variation and deformation due to force or heat also cause inaccuracy of positioning. This study is to investigate control methods which overcome these obstructing factors commonly found in positioning units and make posible an ultra-high precision positioning. The outline of the study results is given below.
1. Preparatory Study
Several schemes of control were tested on an existing linear positioning system which consists of a ball screw and positioning table driven by a servo-motor. Among the tested control schemes the sliding mode control in the variable structure ontol system was found most promising. An ordinary PID feedback control combined with a pulse mainipulating input was also found practical in its simplicity and good performance.
2. Assemblage of a High Precision Positioning Unit
A new positioning system was assembled in the same construction as the existing system with a much higher precision. The position of the positioning table was measured by an optical linear encoder of 10nm resolution. The reading of the encoder was directly fed back to the control loop.
3. Comparison of Control Schemes
Mathematical models of the third order, the fourth order and the fifth order were constructed. For each model a state feedback control system and a sliding mode control system were designed and tested for performance by both simulations and experiments. In either control scheme, for the third order model neglected higher order modes caused high frequency vibration in responses. The fifth order model had a difficulty in determining good parameter values in identification process. The sliding mode control designed with the fourth order model gave the best results.

Report

(3 results)
  • 1993 Annual Research Report   Final Research Report Summary
  • 1992 Annual Research Report
  • Research Products

    (7 results)

All Other

All Publications (7 results)

  • [Publications] 小峰宏文: "精密位置ぎめ装置の非線形制御に関する研究" 平成5年度東京都立大学修士論文. (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] S.Kawata,A.Watanabe,T.Okada: "Linear Position Control by Sliding Mode with Nonlinear Surface" Preprint,12th World Congress,International Federation of Automatic Control. 4. 293-298 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Hirofumi Komine: "A Study of Nonlinear Control of a Precision Positioning System" Master thesis, Tokyo Metropolitan University. (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Seiichi Kawata, Atsushi Watanabe, Takashi Okada: "Linear Position Control by Sliding Mode with Nonlinear Surface" Preprint, 12th World Congress, IFAC. Vol.4. 293-298 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 小峰宏文: "精密位置ぎめ装置の非線形制御に関する研究" 平成5年度東京都立大学修士論文. (1994)

    • Related Report
      1993 Annual Research Report
  • [Publications] S.Kawata,A.Watanabe,T.Okada: "Linear Position Control by Sliding Mode with Nonlinear Surface" Preprint,12th World Congress,International Federation of Automatic Control. 4. 193-298 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] S.Kawata A.Watanabe T.Okada: "A linear position control by the sliding mode with a nonlinear surface" Proc.1993 IFAC World Congress. (1993)

    • Related Report
      1992 Annual Research Report

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Published: 1992-04-01   Modified: 2016-04-21  

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