減速比が異なる二軸のタンデム制御（固有振動抑制に関する３方式の比較）

DOI Web Site 被引用文献1件 参考文献15件 オープンアクセス
  • 前川 明寛
    名城大学 理工学部 交通機械工学科
  • 安江 寿洋
    名城大学大学院 理工学研究科 交通機械工学専攻
  • 飯田 光
    名城大学大学院 理工学研究科 交通機械工学専攻
  • 山田 拓海
    名城大学大学院 理工学研究科 交通機械工学専攻

書誌事項

タイトル別名
  • Tandem control method of two axes with different reduction ratios (Comparison of three methods for the natural vibration suppression)

説明

<p>Tandem control is the control to drive one load with multiple motors. Its basic method is a common torque method. The common torque method is that the position signal and the rate signal from the motor 1 feedbacks to obtain the torque reference value of the motor 1, and the same torque reference value as the motor 1 is given to the motor 2.This method does not cause a motor current difference, but we found the vibration when a disturbance is applied is significant. In this paper, we propose a method that halves the vibration settling time when a disturbance is applied and does not cause steady-state current difference. The method is the average rate feedback method. The position feedback signal is the average position of each motor, and the rate feedback signal is the average angular velocity of each motor. The signal obtained by multiplying the rate difference between the motors by the rate difference control gain is passed through a high-pass filter, and the torque of each motor is corrected using this signal. As a result, in the average rate feedback method, the response of the rigid body mode can be tuned by the rate control gain, and the damping of natural vibration can be improved by the rate difference gain. The response and the damping of the natural vibration can be tuned separately. With the feedback of the rate difference through the high-pass filter, the steady-state current can be made equal between the motors. As another comparison, we also examined an individual rate feedback method that feedbacks angular velocity signals individually. In the individual rate feedback method, the response of the rigid body mode and the damping of natural vibration can be simultaneously improved by the rate control gain. However, current difference occurs between the motors. It is not good because one motor reaches the current limit first due to the current difference.</p>

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