駆動共振相殺制御による2慣性系の制振制御とベルト駆動サーボシステムへの応用

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: 2015/03/01

タイトル(英語): Vibration Suppression Control Using Actuation Resonance Cancellation Control for Two-Inertia System and Application to Belt Drive Servo System

著者名: 犬飼　健二（東京大学大学院新領域創成科学研究科先端エネルギー工学専攻），藤本　博志（東京大学大学院新領域創成科学研究科先端エネルギー工学専攻），高橋　太郎（トヨタ自動車（株）パートナーロボット部先行開発室 第2先行開発グループ）

著者名(英語): Kenji Inukai (Department of Advanced Energy, Graduate School of Frontier Science, The University of Tokyo), Hiroshi Fujimoto (Department of Advanced Energy, Graduate School of Frontier Science, The University of Tokyo), Taro Takahashi (Advanced Technology Engineering Department, Partner Robot Division, Toyota Motor Corporation)

キーワード: 2慣性系，共振相殺制御，振動抑制，ベルト駆動，位相安定化　　two-inertia system，resonance cancellation control，vibration suppression，belt driving，phase stabilization

要約(英語): Usually, a belt driving system has low resonance because of the elasticity of the timing belts, and the low resonance may degrade the response performance and positioning precision. This paper presents a robot joint that links the motor side to the load side via a timing belt. This can be regarded as a two-inertia system. This paper proposes a novel control method that uses multiple motors on both the motor side and load side of a MISO system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple because the design only requires two parameters. Simulations and experiments were performed to demonstrate the effectiveness of the proposed control system.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.3 （2015） 特集：産業計測制御，メカトロニクス制御

本誌掲載ページ: 237-245 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/135/3/135_237/_article/-char/ja/