歯車減速機構を有する機械系の過渡振動抑制 : モデルベーストコントロールの適用効果

概要

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This paper deals with a control technique for eliminating the transient vibration of a geared mechanical system. This technique is based oil a model based control in order to establish a damping effect without a response time lag. The control model is composed of reduced-order electrical and mechanical parts. This model estimates a load's speed which is converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically and is added to the velocity command to suppress the transient vibration of the load. This control model is easily obtained from design or experimental data and can be easily integrated into a DSP. This control technique is applied to a harmonic drive geared system. Simulations and experiments show satisfactory control results in reducing the transient vibration.
社団法人日本機械学会の論文
1998-07-25