歯車減速機構の内部励振に基づく回転速度変動の自己補償制御による抑制 : 第2報, 自己補償制御ループへのトラッキングバンドパスフィルタの適用効果

概要

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This paper deals with a control technique for eliminating speed or torque variations, which are locally generated inside a gear reducer and excite a driven machine system, in the lower-frequency domain. This technique is based on a self-compensating control applied to the gear reducer. In the self-compensating control loop proposed previously, band-pass filters with fixed center frequencies were employed to suppress such variations at constant speeds of the driving motor. To enhance the performance of this method, band-pass filters whose center frequencies track changes in the motor speed are integrated into the loop. This proposed variable self-compensating control loop is used to reduce the exciting components of the harmonic drive gear upon increase and/or reduction of the motor speed. The stability conditions of this control system are clarified by the loci of the system eigenvalues. Furthermore, this control technique is used to suppress the vibration level at passing-through-resonance. Simulations and experiments show satisfactory control results.
一般社団法人日本機械学会の論文
1996-12-25