| Project/Area Number |
07555425
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 試験 |
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| Research Field |
計測・制御工学
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| Research Institution | University of Tokyo |
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Principal Investigator |
HARASHIMA Fumio UNIVERSITY OF TOKYO,INSTITUTE OF INDUSTRIAL SCIENCE,PROFESSOR, 生産技術研究所, 教授 (60013116)
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| Co-Investigator(Kenkyū-buntansha) |
HASHIMOTO Hideki UNIVERSITY OF TOKYO,INSTITUTE OF INDUSTRIAL SCIENCE,ASSOCIATE PROFESSOR, 生産技術研究所, 助教授 (30183908)
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| Project Period (FY) |
1995 – 1996
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| Project Status |
Completed (Fiscal Year 1996)
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| Budget Amount *help |
¥6,800,000 (Direct Cost: ¥6,800,000)
Fiscal Year 1996: ¥6,800,000 (Direct Cost: ¥6,800,000)
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| Keywords | robust control / motion control / variable structure system / sliding mode / discrete time system / VSS observer / two mass system / CAD / 可変構造系 / メカトロニクス / 可変構造制御 / シミュレーション / サーボモータ / チャタリング |
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| Research Abstract |
We have applied sliding mode control as the most robust control method to control of DC servo motors, robotic arms and power inverters. Through development of the applications, we have solved serious problem accompanied with sliding mode control such as losing energy and chattering, etc. Energy efficiency has been improved by using optimized switching pattern and chattering has been reduced by proposing discrete time sliding mode with VSS observer. These validities have been approved by actual experiments of 2 mass system. We have developed the control systems using commercial CAD and made several control design tools in the frame of the CAD.The tools have been completed so that they would be applied to many types of motion control systems.
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