既約分解表現に基づく二慣性共振系の一速度制御法とその特性

概要

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This paper relates to a high performance speed control method of two inertia resonant system. The two inertia resonant system is made up of a motor, a load machine and an axis jointing them each other. The control problem of this system is to perform the speed control of the load machine satisfactorily.This paper proposes the control method of the two inertia resonant system with the speed controller forming the two degrees of freedom control system designed to be based on the coprime factorization description of the system. The speed controller is made up of a stabilizing dynamic compensator and a reference signal response dynamic compensator. The former takes the function of the stabilization, the disturbance suppression, and the strongly stabilization of the system. The latter takes the function of the reference signal response. This paper shows a design method of the two dynamic compensators mentioned above, and a design example of the dynamic compensators, simulation results and experiment results of the test machine.