2023 Fiscal Year Final Research Report
Perfect Tracking Control by PWM-Type Input
| Project/Area Number |
19K04438
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Utsunomiya University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
鈴木 雅康 宇都宮大学, 工学部, 准教授 (10456692)
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| Project Period (FY) |
2019-04-01 – 2024-03-31
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| Keywords | PWM型入力系 / 完全追従制御 / 離散化零点 / 不安定零点 / 量子化誤差 / 動的量子化器 / 二重積分系 / ガルバノスキャナ |
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| Outline of Final Research Achievements |
In pulse-width modulation (PWM), commonly used in motor control, varying both the pulse width and its position can stabilize unstable zeros that arise during discretization. This indicates that perfect tracking control can be achieved using a feedforward (FF) controller based on a stable inverse model. However, specific design methods for this approach have not been sufficiently explored. Therefore, this study proposes a detailed design method to achieve perfect tracking control and applies it to the high-speed and high-precision angular control of a Galvano scanner used in laser processing machines. The control performance was evaluated through experiments. The results demonstrated that the proposed method enhanced tracking performance compared to zero-phase error tracking control, a well-known FF controller design method for systems with unstable zeros.
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| Free Research Field |
制御工学
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| Academic Significance and Societal Importance of the Research Achievements |
制御対象の逆モデルが構成できれば，制御対象の特性を完全に打ち消すことができるので，目標値に誤差無く追従する完全追従制御系が構成できる。しかし，多くの場合離散化零点が不安定になるので，逆モデルが不安定となり，それが実現できない。そこで，本研究ではPWM型入力系において，PWMパルスの生成法を工夫することで，安定な逆モデルに基づくフィードフォワード制御器を設計する方法を明らかにした。さらに，その有効性をレーザ加工機で用いられるガルバノスキャナの角度制御問題に適用し，その有効性を実機実験で示した。PWM型入力は各種産業機器の制御系で多く用いられていることから，それらの制御性能向上に大きく貢献できる。
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