H∞制御理論に基づく電動機の制振制御

概要

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This paper treats the vibration control of a motor system which has a motor and a load connected with a flexible shaft. This system often generates a shaft torsional vibration. Traditional methods for this motor system are specifically to use notch filter to suppress the resonance of the system, or to adjust PID controller so that the closed loop frequency response is slower than that of the vibration mode. On the other hand, we have already proposed one method by disdurbance obserber to suppress the vibration. In this paper, we propose a new approach based on H∞ control theory. For comparison, we also construct a PI control system based on Classical control theory.The results of several experiments show us that the H∞control system is effective in suppressing the vibration as compared with the PI control system. Further, this study shows that the H∞ controller obtained consists of a PI controller and a series compensator that functions as an active vibration controller.
社団法人電気学会の論文