| 摘要 |
PURPOSE:To make positioning eliminating remaining vibration of a moving body at the time of starting and stopping quickly by giving negative feedback to a position command value by a correction value basing on status variables obtained successively by forecasting and correcting the position command value successively. CONSTITUTION:In a state equation that can forecast mechanical vibration of an arm, it is supposed that Z is state variable, A, B, C are coefficient matrix when the arm 4 is formula modeled, y' is calculative output variable for position y. Then, correcting position command value U' can be expressed by d/dtz=AZ+ BU', y'=CZ. In the next step corresponding to a correcting circuit 14, predetermined feedback coefficient matrix F is multiplied to a status variable Z obtained in the next but one step corresponding to an arm simulator in which initial value is zero. A command value U' that can eliminate vibration is calculated giving negative feedback to a command value U by the correction value FZ thus obtained. Thus, mechanical vibration can be suppressed by correcting the position command values successively. |
