Relative Vibration Suppression in a Positioning Machine Using Acceleration Feedback Control
Relative Vibration Suppression in a Positioning Machine Using Acceleration Feedback Control
复制标题
使用加速度反馈控制的定位机中的相对振动抑制
DOI：
10.1541/ieejjia.7.15
复制
发表时间：
2018
影响因子：
1.7
通讯作者：
H. Ikeda
中科院分区：
文献类型：
--
作者：
Kai Takashi;H. Sekiguchi;H. Ikeda
提出了一种抑制相对位移残余振动的方法。在工厂自动化中，定位机由伺服电机精确控制；然而，它们的反作用力将不可避免地使安装电机的机器支架产生振动。一个常见的问题是，由于机器支架固有的柔性结构，由此产生的残余振动会引起干扰，妨碍高速和准确定位，从而意外地延长了一些工业应用中的沉降时间。本文提出了机架加速度反馈（MSAFB）控制方法，该方法利用加速度计检测机架的加速度信号，以提高系统对环境干扰和不确定性的鲁棒性。这种反馈策略优于基于前馈控制的输入整形策略。仿真和实验验证了该控制器的有效性，该控制器是专门针对机械设备的摇模振动而设计的。
A method to suppress the residual vibration of relative displacement is proposed. In factory automation, the positioning machines are precisely controlled by servo motors; however, their reaction force will unavoidably vibrate the machine stand on which the motors are mounted. A common problem is that the resulting residual vibrations cause disturbances that prevent high speed and accurate positioning, due to the inherent flexible structures in the machine stand, thereby unexpectedly extending the settling time in some industrial applications. This paper presents machine stand acceleration feedback (MSAFB) control, which detects the acceleration signal of the machine stand using an accelerometer to improve the robustness against disturbances from the environment and uncertainty in the system. This feedback strategy is superior to input shaping strategy, which is based on feedforward control. Simulations and experiments show the effectiveness of the proposed MSAFB controller, which was designed specifically for mechanical plants with rocking mode vibration.