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Please use this identifier to cite or link to this item: http://hdl.handle.net/10087/5754

Title: Rapid Position Control using Feedforward Control based on Inverse Dynamics : The Case of the Mechanical System of Linear DC Motor and Beam
Authors: KOJIMA, Hiroyuki
NEZU, Kikuo
SAKAMOTO, Kenji
KAWANABE, Takashi
KOJIMA, Hideo
Keywords: Computer Control
Mechatronics
Control Device
Inverse Dynamics
Feedforward Control
Linear DC Motor
Beam
Issue Date: 15-Dec-1991
Publisher: 社団法人日本機械学会
Citation: JSME international journal Ser 3 Vibration control engineering engineering for industry. 34-Ⅲ(4), 490-495 (1991)
Abstract: A position control system consisting of a linear DC motor and a beam, based on inverse dynamics, is proposed. The rapid and exact control performance is confirmed experimentally and theoretically. In the experiment, the linear DC motor is made of an aluminum coil frame or an acrylic resin coil frame. It is confirmed that, by the present control method, the moving part of the linear DC motor can be controlled accurately to the position control command for an arbitrary settling time without undesirable mechanical vibrations. When the settling time is comparatively long, the wave shape of the control current of the motor is affected mainly by the bending force of the beam. Then, with a decreasing settling time, the inertial force has significant effects on the wave shape of the tontrol current. Furthermore, the numerical simulation results obtained with the finite element method agree well with the experimental results.
URI: http://hdl.handle.net/10087/5754
ISSN: 09148825
Appears in Collections:学術雑誌論文

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