Position Control of Resonant System with Load Force Suppression Using Wave Observer
Position Control of Resonant System with Load Force Suppression Using Wave Observer
复制标题
使用波动观测器抑制负载力的谐振系统的位置控制
DOI：
10.1541/ieejjia.3.18
复制
发表时间：
2014
影响因子：
1.7
通讯作者：
S. Katsura
中科院分区：
文献类型：
--
作者：
E. Saito;S. Katsura
在工业应用中，减少由机械约束引起的刚度，例如使用齿轮，会在系统尖端引起振动，这可能成为一个问题。因此，基于波动方程的振动控制方案正在进行研究，该方案通过消除反射波来抑制所有共振。然而，基于波动方程的传统方法没有考虑对载荷力的鲁棒性。本文提出了利用波动观测器对谐振系统进行位置控制，以增强系统对负载力的鲁棒性。在该方案中，谐振系统被建模为包含载荷和力的波动方程，控制系统的设计基于波动方程。振动抑制是通过抑制反射波来实现的，它可以抑制谐振系统的所有共振。此外，对传统的反射波抑制结构进行了改进，以实现对运动侧干扰的鲁棒性。此外，还提出了波浪观测器来消除载荷力的影响。最后，通过实验验证了所提方法的有效性。
In industrial applications, reducing the sti ff ness caused by mechanical constraints, such as using gear, induces a vibration at the tip of a system, which can become a problem. Thus, research is ongoing on vibration control scheme based on a wave equation to suppress all resonances by eliminating reflected waves. However, the conventional method based on the wave equation does not consider robustness against a load force. This paper proposes position control of a resonant system using wave observer to enhance robustness against the load force. In the proposal, the resonant system is modeled as the wave equation containing the load force and control system design is based on the wave equation. Vibration suppression is achieved by a reflected wave rejection, which can suppress all resonances of a resonant system. Moreover, the conventional reflected wave rejection structure is modified to realize robustness against disturbance acting on the motor side. In addition, the wave observer is proposed for eliminating an e ff ect of the load force. Finally, the validity of the proposed method is verified by experiments.