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2003 Fiscal Year Final Research Report Summary

Study on Multi-axial Preview Path Control System

Research Project

Project/Area Number 13650259
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionKanagawa University

Principal Investigator

EGAMI Tadashi  Kanagawa University, Faculty of Engineering, Professor, 工学部, 教授 (40201363)

Project Period (FY) 2001 – 2003
KeywordsPath control / Preview control / Coordinate transformation / Expansion of axis / NC milling machine / Two wheeled vehicle
Research Abstract

I have proposed a new path control method with vector decomposition in this study. In the study, a motion equation of multiaxial systems in an orthogonal coordinate system was transformed into a rotational coordinate system whose axes were expanded. Then, an arbitrary curve path could be transformed into the unit circle or straight line path using the transformations. The transformed motion equations could be decoupled and decomposed into a gain component and a phase component. Both the gain component and the phase component control system were constructed independently. In the transformed area, the desired value of the gain component became constant and the gain component error was equal to the path error which could converge to zero by using 1-type controller. The effect of disturbances were absorbed by the phase component control system and the path error was little disturbed. In the method, essential path control could be realized using unity control coefficient over a wide range, from the desired open curve path to the curve path.
I have also extended the proposed method to 3-dimentional space. I have applied these methods to multi-axis linear motor tables, and confirmed the effectiveness experimentally. I have also applied the proposed methods to practical systems such as NC Bench milling machines, two or three wheeled vehicles, force displays and so on, and examined these practical utility.

  • Research Products

    (9 results)

All Other

All Publications (9 results)

  • [Publications] 江上 正, 新中新二: "ACサーボモータのインテリジェント制御とそのメカトロシステムへの応用に関する研究"神奈川大学工学研究所所報. 24. 87-97 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 佐藤匡, 江上正, 土谷武士: "離散時間予見スライディングモードサーボ系とその特性"システム制御情報学会論文誌. 14・12. 582-592 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 江上正, 愛田一雄, 土谷武士: "動的計画法による一般化予測制御系とその等価性"計測自動制御学会論文集. 38・2. 143-149 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 江上正: "予見・予測制御"神奈川大学工学部報告. 40. 20-21 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 佐藤匡, 江上正, 土谷武士: "予見フィードフォワード補償を用いたディジタルスライディングモードサーボシステム"電気学会論文誌C. 23・8. 1439-1448 (2003)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 江上正, 円谷佳寛: "伸縮座標変換を用いたベクトル分解経路制御"電気学会論文誌D. 123・12. 1474-1482 (2003)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 土谷武士, 江上正: "基礎システム制御工学"森北出版. 202 (2001)

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      「研究成果報告書概要(和文)」より
  • [Publications] T.Egami, K.Aida, T.Tsuchiya: "Generalized Predictive Control System by Means of Dynamic Programming and Its Equivalence"T.SICE.(in Japanese). Vol.38, No.2. 143-149 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Egami, Y.Tsuburaya: "A Path Control with Vector Decomposition by Means of Expansionary Coordinate Trandformations"IEEJ Trans.IA(in Japanese). Vol.123, No.12. 1474-1482 (2003)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2005-04-19  

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