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In this paper, a two-degree-of-freedom (2-DOF) speed control scheme for permanent magnet synchronous machines is developed. Both the reference-tracking and disturbance rejection performance are taken into account and only a single parameter related to expected bandwidth determines the dynamics. To improve the performance of speed control, a novel identification method for mechanical parameters is also proposed. The effectiveness of the proposed method is verified by simulations.

A robust design method of the discrete-time plug-in repetitive control system is proposed. By modifying the stabilizing compensator, the robustness of the repetitive control system can be well ensured together with the zero-following error performance. The design method is simple and straightforward. Meanwhile, a novel robustness criterion for the discrete-time repetitive control system is introduced, and theoretical analysis is taken to compare the robustness of the proposed controller with the widely used zero phase error tracking controller (ZPETC). The proposed repetitive controller is implemented in a linear servo system. Simulation is performed to verify the theoretical analysis, and the experimental results show the effectiveness of the proposed controller.

メカトロニクスのサーボ系において, 位相の遅れた速度信号を用いてフィードバック制御した場合, 制御ゲインを高く設定することができず, 応答が遅くなるという問題がある. 我々は, 数サンプリング先までの速度信号を予測し, 位相遅れを補償した速度予測方式を開発し, 高速・高精度位置決め応答を実現した. 本論文では, 速度予測方式の原理, シミュレーションおよび1軸スライダの位置決め応答結果を報告する.

This paper has proposed a novel (Integral-Proportional) I-P controller in speed control of a permanent magnet synchronous machine (PMSM) drive system, it removes the side effects such as slow dynamic response of the conventional I-P controller and maintains the advantages in the meantime. Theoretical studies for the conventional P-I, I-P and the proposed controllers in the s-domain and z-domain are presented, and the transfer functions of them are derived. The responses of the controllers to step input reference and sudden change in reference speed and load are analysed in simulation and experiment. Both the simulation and the experimental results show the effectiveness of the proposed controller.

Wire bonder is a typical high speed machine. The motion speed of XY-stage is the key factor of bonding efficiency. However, phase lag elements in the servo system limit the bandwidth and slow down the system’s response. A predictive velocity observer is proposed to compensate for those phase lags. Then, the velocity loop controller can be designed as for a servo system which does not have those phase lags. Loop gains are enlarged and bandwidth is enlarged correspondingly. Then, the motion speed is improved and settling time is decreased. Experiment results verify that the predictive velocity observer provided a significant phase lead and the performance of wire bonder is improved.

Phase lags limit loop gains and ultimately reduce the responsiveness of the high speed motion control system. We propose a predictive position and velocity observer. The predictive observer can provide a significant phase lead therefore the controller can be designed as if the control system does not have these phase lag elements. The implementation and tuning steps of the observer is also introduced. The simulations verify that the proposed observer can significantly improve the performance of the motion control system.

This paper deals with the problem of finding a compensator which stabilizes the closed-loop system satisfying an H ∞ sensitivity constraint for an SISO minimum phase plant having both parametric and unstructured perturbation. The compensator is designed so that the complementary sensitivity function is a low-pass filter function. Thus it can robustly stabilize the closed-loop system for a plant with large high-frequency unstructured uncertainty and large parametric variation. Furthermore, the performance can also be satisfied.