Robustness of Position Control of Two-Inertia System based on Acceleration Control

カテゴリ: 研究会(論文単位)

論文No: IIC12142

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2012/03/07

タイトル(英語): Robustness of Position Control of Two-Inertia System based on Acceleration Control

著者名: Moe Mya Mya (長岡技術科学大学),嶋田 直樹(長岡技術科学大学),大石 潔(長岡技術科学大学),宮崎 敏昌(長岡技術科学大学)

著者名(英語): Moe Mya Mya (Nagaoka University of Technology),Shimada Naoki(Nagaoka University of Technology),Ohishi Kiyoshi(Nagaoka University of Technology),Miyazaki Toshimasa(Nagaoka University of Technology)

キーワード: Robust control|Two-inertia System|Acceleration Control|Resonance Ratio Control

要約(日本語): Nowadays, the servo control system is increasingly use in industrial applications. For an industrial robot, high load to weight ratio is an important key. Therefore, for the sake of high load to weight ratio, harmonic drives are frequently used. In this research, two inertia system which the load is coupled to the driving motor by a long shaft is adopted instead of harmonic drive. In this paper, we proposed the robustness of position control based on the acceleration control using PI_I which is controlled by using resonance ratio control method. In the resonance ratio control, the robustness and vibration suppression in the torsional system is proposed. The effectiveness of the proposed control system is confirmed by the simulation results.

要約(英語): Nowadays, the servo control system is increasingly use in industrial applications. For an industrial robot, high load to weight ratio is an important key. Therefore, for the sake of high load to weight ratio, harmonic drives are frequently used. In this research, two inertia system which the load is coupled to the driving motor by a long shaft is adopted instead of harmonic drive. In this paper, we proposed the robustness of position control based on the acceleration control using PI_I which is controlled by using resonance ratio control method. In the resonance ratio control, the robustness and vibration suppression in the torsional system is proposed. The effectiveness of the proposed control system is confirmed by the simulation results.

原稿種別: 日本語

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