Mechanical Parameter Measurement of 2-Mass Resonant System Using Disturbance Observer
Mechanical Parameter Measurement of 2-Mass Resonant System Using Disturbance Observer
复制标题
使用扰动观测器测量二质量谐振系统的力学参数
DOI：
10.1541/ieejias.116.137
复制
发表时间：
1996
影响因子：
--
通讯作者：
N. Matsui
中科院分区：
文献类型：
--
作者：
M. Iwasaki;Terukazu Hiroe;N. Matsui
在2质量谐振系统的应用领域中，已经提出了基于控制理论的各种使用前馈/反馈控制的技术来实现高性能运动控制。虽然这些方案能够有效抑制谐振，但它们对系统参数相当敏感，因为此类控制器的设计基本上依赖于系统机械参数。本文提出了一种基于扰动观测器的新型2质量谐振系统机械参数测量方案。在所提出的测量中，可以利用由于观测器中的参数设置误差而估计的干扰扭矩的误差分量来测量谐振系统的负载惯量和扭转常数。该测量算法的一个显着特点是不需要额外的工具，只需观察者即可进行参数测量。通过原型机获得的实验结果验证了所提出的测量方案的有效性。
In application fields of a 2-mass resonant system, control theory-based various techniques by using feedforward/feedback control have been proposed to achieve the high performance motion control. Although these schemes are effective to suppress the resonant vibration, they are quite sensitive to system parameters because the design of such controllers basically relies on system mechanical parameters.This paper presents a disturbance observer-based novel mechanical parameter measurement scheme of 2-mass resonant system. In the proposed measurement, the load inertia and the torsional constant of the resonant system can be measured by using error components of the estimated disturbance torque due to setting errors of the parameters in the observer. This measurement algorithm has a distinctive feature that no additional tool but the observer is required for the parameter measurement. The effectiveness of the proposed measurement scheme is verified by experimental results which are obtained by a prototype.