Control of Oscillating Multi-mass System with Gear Backlash by Digital Observer
Control of Oscillating Multi-mass System with Gear Backlash by Digital Observer
复制标题
数字观测器控制带齿隙的振荡多质量系统
DOI：
10.1541/ieejias.110.410
复制
发表时间：
1990
影响因子：
--
通讯作者：
K. Yano
中科院分区：
文献类型：
--
作者：
S. Ouchi;K. Yano
在工业设备和工业机器人中使用的电动机的变速控制中，当电动机和负载与轴弹性耦合时，经常产生轴扭转振荡。本文从理论上说明了无论齿轮有无，用数字观测器都能抑制轴系扭振的事实。我们在两个共振频率为10.5 Hz和16 Hz的轴上进行了测试，数字控制设备，用于利用数字观测器控制直流电动机，以确认振荡控制效果。
On a variable speed control of motors used in industrial plants and industrial robots, a shaft torsional oscillation is often generated when a motor and a load are elastically coupled with a shaft. Such an oscillation may result in damage to the machine.This paper is intended to theoretically explain the fact that a shaft torsional oscillation can be suppressed by using the digital observer regardless of the presense of the gear.In this paper, we conducted tests on two shafts with resonant frequencies at 10.5 Hz and 16 Hz using a full-digital control equipment for controlling DC motors with the digital observer in order to confirm the oscillation control effects.