歯付ベルト駆動サーボ系の周期的速度変動の外乱オブザーバによる低減に関する研究(機械力学,計測,自動制御)

概要

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Since timing belt drives have the advantages such as lower costs and accurate transfer characteristics, the timing belt drives are widely used in industrial machines and office automation equipments. However, there are problems of periodic transfer variations caused by eccentricity of the pulleys, interlock of the teeth of belt and pulley etc. Though it can be said that high gain feedback is effective to suppress the periodic variations, high gain feedback makes the system unstable easily due to elasticity of drive system, modeling error and so on. In this paper, we propose the control technique to suppress these periodic variations by using disturbance observer. First, we analyze the mechanism of the variations caused by eccentricity of the pulleys that is the most influential above all. We suggest sinusoidal model for the transfer variations as disturbances, and show the effectiveness of the disturbance compensation by implementing I-P speed control with the disturbance observer.
社団法人日本機械学会の論文
2002-12-25