Position Control of Resonant System with Load Force Suppression Using Wave Observer

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2014/01/01タイトル(英語): Position Control of Resonant System with Load Force Suppression Using Wave Observer著者名: Eiichi Saito (Department of Syst em Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)著者名(英語): Eiichi Saito (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)キーワード: resonant system，vibration control，wave equation，disturbance observer要約(英語): In industrial applications, reducing the stiffness 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 effect of the load force. Finally, the validity of the proposed method is verified by experiments.本誌: IEEJ Journal of Industry Applications Vol.3 No.1 （2014）Special Issue on Motion Control and its Related Technologies本誌掲載ページ: 18-25 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/3/1/3_18/_article/-char/ja/ Show more