2212 ツインドライブ式歯車装置系の振動制御 : モデルベースト制御の特性シミュレーション

概要

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This paper deals with a control technique of eliminating the transient vibration of a geared mechanical system. This technique is based on a model-based control in order to establish the damping effect. The control model is composed of reduced-order electrical and mechanical parts. This model estimates a load speed 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 technique is applied to a twin-drive geared system. The performance of this control technique is investigated by simulations. The effectiveness is confirmed even if the parameter error of torque constant and the modeling error of the 1st natural frequency exist.
一般社団法人日本機械学会の論文
2002-09-20