別紙41 (課程博士(英文))Date of submission (07 month 9 day,2020 year)
Depa11ment ofStudentlD Number

機械工学専攻D155114

Prof. NaokiuchiyamaSupervisors

PplicaΠ1's nameProf. Kaiji sato

MATHEWRENNYMSUKWA

Ab託md (Dodo"
Iitle ofThesis

Adaptive Nonlinear control for Energy・Ef6Cient and Hiσ1〕・PTecision Motion oflndustrial
Feed Drive systems

Approx.80o words
Ihe relnω'kable teC1Ⅱ1010σical advancelnent in n〕echau'onics, the syna'σetic application ofelectrlcal, eleCれ'onlc, colnputer, and control engil〕eerlng, which has evolved over the past t1Ⅱee
decades, has led to a novelstage oflife.1n response to tl〕e rapid growth ofteC1Ⅱ1010oy and demandfor precise products, the industrial con11nunity stiⅡ require hiσ1〕er・accuracy and higher・speed
InanufaCれⅡing systen〕SFeed drive systemS 砥'e alnong tl〕e domil〕ating n〕otion colnponents in production andmanufact1Ⅱ'ing il〕dustries owing to tl〕e註' wide range ofuse,血r instance in lnulti・axis n〕otions.11〕
addition, because in lnost cases, feed drive systelns operate m、ound tl〕e clock, they 砥'e an)ong themajor consumers of t11e industrial ena'gy supply. Thus, ena'gy consulnption is part oftl〕e reasonsfor using lighter colnponents in feed drive systen〕S.＼入11]ile high・speed n〕otion is preferred, it causes
Vibration n〕 1ight systen〕S, high・en磁'gy consun〕ption, and poor precision.111e precision of tl〕ese
Systelns depends n〕ostly on the abi1丘y to oV仇'colne nonlinear uncerlainties, which 砥'e con〕1non andgena'aⅡy unavoidable. The uncertail〕ties con〕e fron〕̲ either dist1Ⅱ'bance signals or 丘oln systelnn〕ode111ng a1冷rs. X入71〕en a systen]̲ is approxilnated by a lnathen〕̲atical nlodel, non・会,uldan〕.entalfactors are non〕〕aⅡy ignm'ed; factors like,1〕igh・丘equency dynan〕ics and n〕echanical vibrations＼Ⅵ〕ich are caused by the system itself
Many researches have been focusing on lracking and contouring conu'010fservolnotm'S, which are
Widely used in n〕ouon control applications owh〕g to theⅡ basic advantages, SUCI〕 as highPower・density and torque to il〕ertia ratio, h壌1〕 pa'forlnance and efficiency and low noise. on dolngSO, classical and n〕odeln controlted〕11iques such as sliding n]̲ode contr01(SNIC), adaptive contr01,dynan〕iC 丘iction con〕pensation n]̲ethods, back・stepping control have been widely applied. on tl〕eOtl〕er ha11d, tbr applications such as in 企ed drive systelns, repetitive and ita'ative lean〕ing controls
砥'e c011Ⅱnonly used under the assU111Ption that these systen〕S 砥'e used fbr n〕ass・productions
However, since tl〕a'e 砥'e n〕any feed drive applicationS 11〕at 雛'e not repetitive, it is indispensable toConsider controlstrategies for gena'al applications

Robust contr011ers such as sNlc have proven to provide reasonable performance undertl〕e effect ofexternal disturbance and system uncertainties.1he sMC, apart 丘om its simplicity il) design, it isrobust against pe11Urbation and invariant to lnatched uncertainties. OU]er variants of tl〕e sNICil〕clude adaptive sliding n〕ode contr01(ASIYIC) and nonlinear sliding mode contr01.1hey ω'e moreaexible and offa' h地h斂' precision con〕pared to d〕e traditional sMC. on tl〕e other hand,model・based approaches such as tヒedforward 丘iction colnpensator al'e applied to cancel out theeffect ofthe estimated 丘iction force. However, because 五'iction s01Ⅱ'ceS 砥'e genera11y of con〕plex
nonlinear prope11ies, it is difficultto tlnd a P飢'fect model and tl〕e perfon〕〕ance depends exclusively
On d〕e va'acity of the estilnated model,1n solne reseal'ch, continuously differentiable nonlinear

丘iction lnodelis derived by n〕odifying LUGre n〕odel which is piecewise continuous, and then
Propose a contr011er to take care of paTan〕etric unce11ainties along with nonlinear 丘iction
Conlpensation. Desplte d〕e prolnising P飢formance oftl〕e lnentloned approaches, it iS 111dispensable
to enhance boththe precision and ena'gy consulnption offeed drive systems
The prin〕ary objective of this resem'ch is to in〕prove en飢'gy saving and high precision n〕otion ofmulti・axis feed drive systelns by expHcitly considering the uncertainty dynalnics、 A nonlinear sNIC

＼Nith a feedforwald colnpensator for systeln uncertainties is appHed.1he feedforward colnpensator
refers to the lnodeled systen〕 with assun〕ed uncertainty dynalnics and tl〕e contr0Ⅱer is designed bytaking the diffa'ence between a refa'ence lnodel and tl〕e real systeln.1he proposed nlethoded]ances ule precision offeed drive systelns while lnail〕taining the requb'ed el〕eroy. An addition ofanotl〕er con)pensator for a specific uncertalnty ls expected not to degrade the performance oftl)eProposed conu'0Ⅱer but el〕1)ance it.1n order to enhance both precision control and energy・saving
Controlfbr 企ed drive systems, an adaptive nonlinear sliding n〕ode contr0Ⅱer with a feedforW砥、dColnpensator for plant uncertail)ties is described in tl〕is thesis.11〕h'oductm'y relnω'k is represel〕ted in
Chapter l.1n chapter 2, an adaptlve sliding mode conu'ol with a nonHnear slidlng surface isdescribed. ExperilnentS 釦'e conducted and results al'e con〕P砥'ed to that ofsNlc wilhout adaptation

11〕 chapter 3, an adaptive sliding mode contr01、vith a feedfoTW砥d colnpensator is applied. ForPettbnnance evaluation, simulations and exper11nentS ω'e conducted and results are con]Pω'ed 、vithd〕ose of an adaptive non血〕ear sliding lnodel contr011er. Results tevealed tl〕at, based on t11e
Proposed contr0Ⅱer, tl]e traddng a1冷rs of feed drive systems can be reduced by about 33% on
aV仇'age and the n〕aximuln tracklng error by about 64% on average.1n additlon, tl〕e enetgy
Conslunption can be reduced by about 2% under sin〕ilal' tlacking pa'fonnance.1n cl〕apte1 4, anadaptive sliding lnode contouring control design based on refa'ence adjustlnent (ASNICC) andUnca'tainty compensation is described. For performance evaluation, sitnulationS 磁'e conducted andresultS 砥'e con〕Pω'ed with tl〕ose of ASMCC ＼vithout tl〕e uncertainty compensator. Results showthat the ava'age and n〕aX11num contounng error can be Teduced by 85.71% and 78.64%,respectively. Lastly, chapter 5 describes concludlng temω'ks of this tl]esls and prospective
future works.