ハーモニック型磁気歯車の周期外乱抑制制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2014/03/01

タイトル(英語): Cyclic Disturbance Suppression Control for Harmonic Magnetic Gear

著者名: 内村　裕（芝浦工業大学），齋藤　靖（オリエンタルモーター（株））

著者名(英語): Yutaka Uchimura (Shibaura Institute of Technology), Yasushi Saito (Oriental Motor Co., Ltd.)

キーワード: ハーモニック型磁気歯車，コギングトルク，フィードフォワード制御，外乱オブザーバ，周期外乱　　harmonic magnetic gear，cogging torque，feed forward control，disturbance observer，periodic disturbance

要約(英語): This paper proposes a control method that attenuates adverse effects due to cogging torque on the vibratory system. A conventional controller utilizes a disturbance observer to estimate the cogging torque; however, the observer uses a filter that causes an estimation delay. If the cut off frequency is high enough, the delay may be negligible, but the estimated disturbance (cogging torque) will be contaminated with vibration. Instead, the proposed method uses a filter with a low cut off frequency; the estimation delay is compensated for by the leading angle, then it is used to attenuate the disturbance in the next rotational duration. The experimental results showed that the proposed method was clearly superior: the RMS magnitudes of the velocity control error were drastically reduced.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.3 （2014） 特集：産業計測自動制御，メカトロニクス制御

本誌掲載ページ: 284-292 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/134/3/134_284/_article/-char/ja/