Optimal design of machine control systems for trade-off between environmental impact and control performances

• Project/Area Number: 21560247
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Akita Prefectural University
• Principal Investigator: SATO Toshiyuki 秋田県立大学, システム科学技術学部, 准教授 (40315635)
• Co-Investigator(Kenkyū-buntansha): SAITO Naoki 秋田県立大学, システム科学技術学部, 准教授 (60315645)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000); Fiscal Year 2011: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2010: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2009: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
• Keywords: 動的設計 / メカトロニクス / モデル予測制御 / 外乱オブザーバ / 制御系設計 / 省エネルギ / テーブル駆動系 / ボールネジ駆動系

Research Abstract

We have developed a control systems design method for high precision motion control systems which balances control performances and the environmental impact. By combining the model predictive control scheme with the disturbance observer, we have succeeded in controlling motion control systems with relatively small control effort while maintaining the control performance. The effectiveness was confirmed through both simulation and experiment.

Research Products

• [Journal Article] 外乱オブザーバを用いたPredictive Functional Controlの追従性能改善 (2011)
  • Author(s): 佐藤俊之, 金子高太郎, 齊藤直樹
  • Journal Title: 計測自動制御学会産業論文集 Volume: Vol.10, No.15 Pages: 132-139
  • Peer Reviewed
• [Journal Article] Improving Tracking Performance of Predictive Functional Control Using Disturbance Observer and Its Application to Table Drive Systems
  • Author(s): Toshiyuki Satoh, Kotaro Kaneko, Naoki Saito
  • Journal Title: International Journal Computers, Communications & Control
  • Peer Reviewed
• [Presentation] Performance Improvement of Predictive Functional Control : A Disturbance Observer Approach (2011)
  • Author(s): Toshiyuki Satoh, Kotaro Kaneko, Naoki Saito
  • Organizer: 37th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: Melbourne, Australia
  • Year and Date: 2011-11-10
• [Presentation] Performance Improvement of Predictive Functional Control : A Disturbance Observer Approach (2011)
  • Author(s): T.Satoh, K.Kaneko, N.Saito
  • Organizer: Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: Melbourne, Australia
  • Year and Date: 2011-11-10
• [Presentation] 外乱オブザーバ併用型PFCによる1軸サーボ系の位置決め制御 (2011)
  • Author(s): 金子高太郎, 佐藤俊之, 齋藤直樹
  • Organizer: 日本機械学会東北支部第47期秋季講演会
  • Place of Presentation: 山形県米沢市
  • Year and Date: 2011-09-23
• [Presentation] 外乱オブザーバ併用型PFCによるテーブル駆動システムの位置決め制御 (2011)
  • Author(s): 金子高太郎, 佐藤俊之, 齋藤直樹
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 岡山県岡山市
  • Year and Date: 2011-05-27
• [Presentation] Predictive Functional Control with Disturbance Observer for Pneumatic Artificial Muscle Actuator (2010)
  • Author(s): Toshiyuki Satoh, Naoki Saito, Norihiko Saga
  • Organizer: International Conference on Applied Bionics and Biomechanics
  • Place of Presentation: Venice, Italy
  • Year and Date: 2010-10-15
• [Presentation] 1軸サーボ系の摩擦モデリングと位置決め制御 (2010)
  • Author(s): 金子高太郎, 佐藤俊之, 齊藤直樹
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 北海道旭川市
  • Year and Date: 2010-06-15
• [Presentation] 空気圧人工筋アームのモデル予測制御 (2009)
  • Author(s): 渡部良尋, 佐藤俊之, 嵯峨宣彦, 齊藤直樹
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2009
  • Place of Presentation: 福岡県福岡市
  • Year and Date: 2009-05-26
• [Presentation] 空気圧人工筋アームのモデル予測制御 (2009)
  • Author(s): 渡部良尋, 佐藤俊之, 嵯峨宣彦, 齊藤直樹
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 福岡県福岡市
  • Year and Date: 2009-05-26