Kazuo Kanzaki and Nobuaki Kobayashi
In the previous paper, it was described that the same motion as the cam displacement curves can be obtained by applying the feedforward control method; in other words, the inverse to a DC motor driving system. In this paper, it is clarified that the velocity feedback for the motor driving system reduces the effect of the real motor parameter deviation from the setting values of the inverse, even if including the displacement feedback. Furthermore, the residual vibration characteristics of one degree of freedom vibration load connected to the motor axis compensated by the above-mentioned means are studied. The numerical and experimental results in the case of the basic motion curves as the parabolic and harmonic motion cam curves are similar to the mechanical cam behavior. In addition the availability of the inverse system method for the motor output is assured dynamically, and the possibility of the open control positioning by the motor is obtained.
Keywords: Cam motion curve, DC servo motor, Inverse systems, Residual vibration, Positioning