ダブル・リニア・モーター駆動のゲントリーシステムの精密運動制御で,適応スライディングモードのオブザーバーによる干渉の推定が可能です
Yan Zhou1, Yanbin Liu1, Huihui Pan2
1Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, 150000, Heilongjiang, China.
ISA transactions
|February 22, 2026
まとめ
この研究は,二重線形モーター駆動のゲントリーステージの新しい制御戦略を導入し,加工精度を大幅に改善します. 先進的な方法は,動的および安定状態の両方のパフォーマンスを向上させ,最大70%の精度向上を実現します.
科学分野:
- ロボット工学と制御システム
- 機械工学の機械工学
- 製造技術 製造技術 製造技術
背景:
- デュアル・リニア・モーター・ドライヴ・ゲントリー・ステージ (DLMDGS) の多軸協同制御は,不確実なダイナミクスと外部の干渉による課題に直面し,加工精度に影響を及ぼします.
- 既存の制御方法は,複雑な操作環境において高い精度を維持するために苦労しています.
研究 の 目的:
- DLMDGSの制御精度を高めるため,高性能複合材料の適応型堅牢制御戦略を開発する.
- 機械加工の精度に影響を与える複雑な不確実なダイナミクスと外部障害に対処するために.
主な方法:
- 交差ビームの回転ダイナミクスを組み込んだ硬直柔軟なカップリングモデルを確立しました.
- リアルタイムパラメータ推定のための再帰最小二乗 (RLS) を使用した間接的適応方法を開発しました.
- 有限時間干渉推定のための適応スライディングモード干渉オブザーバー (ASMDO) を設計しました.
- オーバーシートとステイシーステートエラー制御のための規定された性能を持つ複合コントローラを実装しました.
主要な成果:
- 提案された制御戦略は,エラーオーバーショットを効果的に制限します.
- 各軸の安定状態の精度で最大約70%の改善を達成しました.
- 比較実験を通じてリヤプノフ定理を用いた閉ループシステムの安定性を実証した.
結論:
- 複合型適応型堅牢制御戦略は,DLMDGSの精度を大幅に高めています.
- この方法は,既存の戦略と比較して優れたダイナミックと安定状態のパフォーマンスを提供します.
- このアプローチは,高精度加工アプリケーションに強力なソリューションを提供します.
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