| 摘要 |
PROBLEM TO BE SOLVED: To conduct a target locus response arbitrarily while eliminating mutual interference, by designing a target response locus with a transmission function or an equation of state using an optimum control index, meeting the locus applying a pole assignment control method to the transmission function or the equation of state for each axis, so as to correct the pole of maximum frequency of the function or the equation to low frequency side and minimize the loop gain of a control system. SOLUTION: Interference torque has a biaxial command signal, for example, deviation and correlation. To reduce interference torque, decreasing the biaxial command signal is an effective means. Ball screws 42, 43 are fitted on the rotating shafts of motors 40, 41, and are screwed with fixed nuts 45, 46 respectively, so as to form an interference type mechanism. In the case of the interference type mechanism, the two motors 40, 41 can conduct high-speed drying by high thrust, however, mutual interference torque is inherent. Therefore, the stress of a ball screw and a nut on the mechanism is large, thus shortening its service life. By applying synchronous control to the two motors, it is possible to reduce the interference torque for attainment of high targeted locus response. |
