Vibration Control of a 2 Mass Resonant System by the Resonance Ratio Control
Vibration Control of a 2 Mass Resonant System by the Resonance Ratio Control
复制标题
谐振比控制对 2 质量谐振系统的振动控制
DOI：
10.1541/ieejias.113.1162
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发表时间：
1993
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
K. Yuki;T. Murakami;K. Ohnishi
近年来，随着鲁棒控制技术的发展，机械系统的共振问题日益突出。本文提出了一种位置控制方法来抑制二质量共振系统的扭转振动。在这里，我们提出了一个无传感器控制的手臂部分。在这种情况下，有必要估计手臂部分的某些状态。当电机部分参数由于几个识别而众所周知时，可以估计由轴扭转引起的反作用扭矩。该反作用转矩反馈使得可以控制转矩电流和电动机位置之间的谐振频率。在这里，我们引入了一个新的概念，这是所谓的“共振比”。共振比由反作用转矩的反馈任意确定。该方法从机械角度看是合理的，控制系统是基于常规PD控制和谐振比控制的。这样就不需要使用臂部的任何传感器信息，并且所提出的控制器是一种非常简单的结构。这是所提出的方法的显着点之一。讨论了控制器增益的确定方法。实验结果也证明了该方法的有效性。
Recently, with the progress of robust control techniques, the resonance of mechanical systems becomes a more important problem. This paper presents a position control method to suppress the torsional vibration of a 2 mass resonant system. Here we propose a sensorless control of arm portion. In this case, it is necessary to estimate some states of the arm portion. When motor portion parameters are well known due to several identifications, the reaction torque caused by the shaft torsion can be estimated. This reaction torque feedback makes it possible to control the resonance frequency between the torque current and the motor position. Here, we introduce a new concept which is called “Resonance Ratio”. The resonance ratio is determined arbitrarily by the feedback of the reaction torque. The proposed method is a reasonable concept from a mechanical point of view.The proposed control system is based on both the conventional PD control and the resonance ratio control. Then any sensor information of the arm portion is not used, and the proposed controller is a very simple structure. This is one of the remarkable points of the proposed method. We discuss an idea of the determination method of controller gains. The validity of the proposed method is also proved by several experiments.