多重オブザーバ構成によるフレキシブルアームの防振制御

概要

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This paper describes a vibration control of flexible arm by multiple observer structure using the accelerations of the arm. In general, a flexible arm has several oscillation modes. In case the model of flexible arm can be described as a two-mass resonant system, the reaction torque feedback makes the flexible arm system stable. In the n-mass resonant system, it is known that the reaction torque feedback makes all oscillation modes, only the reaction torque feedback is not enough to make the system stable. The resonance ratio control with the arm disturbance observer has been proposed. The arm disturbance observer is good to suppress the disturbance applied to the tip, but it is not enough to the disturbance applied to other point on the arm.The aim is to make the control system robust against arm inertia variation and disturbance. This paper proposes vibration control of flexible arm by acceleration feedback, and disturbance rejection by multiple observer structure using the accelerations of the arm. The validity of the proposed method is also shown by simulations and experiments.
社団法人電気学会の論文
2004-07-01