加速度センサフィードバックによる振動抑制制御

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: 2014/09/01

タイトル(英語): Vibration Suppression Control by Acceleration Sensor's Feedback

著者名: 吉浦　泰史（(株) 安川電機），加来　靖彦（(株) 安川電機）

著者名(英語): Yasufumi Yoshiura (YASKAWA ELECTRIC CORPORATION), Yasuhiko Kaku (YASKAWA ELECTRIC CORPORATION)

キーワード: 加速度フィードバック，振動抑制，係数図法，ゲイン設定方法　　acceleration sensor's feedback，vibration suppression，coefficient diagram method，gain setting method

要約(英語): This paper presents a new technology in vibration suppression control that is based on the acceleration sensor's feedback. Earlier, a technology for vibration suppression control had been proposed for a controlled object with resonance and anti-resonance frequencies, but this cannot be applied to a controlled object when the anti-resonance frequency does not appear. For example, there are cases when a Cartesian coordinate robot arm is elastically deformed, and the load it holds vibrates strongly. This is why a new vibration suppression control technology based on the acceleration sensor's feedback is needed. For the versatility in control devices, it is necessary to calculate the control parameters automatically and simplify the control algorithms. Mathematical expressions for the gain are also important. The feedback gain parameters can be calculated using the coefficient diagram method (CDM), but we could not find any applications using CDM applying to the acceleration sensor's feedback. We derived the feedback gain parameters using CDM, and also derived an effective approximate expression for the actual position control device. We confirmed the validity of the derived expression with experiments.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.9 （2014）

本誌掲載ページ: 801-806 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/134/9/134_801/_article/-char/ja/