Vibration Suppression Control Method for Trochoidal Reduction Gears under Load Conditions

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: 2016/05/01

タイトル(英語): Vibration Suppression Control Method for Trochoidal Reduction Gears under Load Conditions

著者名: Yosei Hirano (Department of Electrical Engineering,Nagaoka University of Technology), Takashi Yoshioka (Department of Electrical Engineering,Nagaoka University of Technology), Kiyoshi Ohishi (Department of Electrical Engineering,Nagaoka University of Tech

著者名(英語): Yosei Hirano (Department of Electrical Engineering,Nagaoka University of Technology), Takashi Yoshioka (Department of Electrical Engineering,Nagaoka University of Technology), Kiyoshi Ohishi (Department of Electrical Engineering,Nagaoka University of Technology), Toshimasa Miyazaki (Department of Electrical Engineering,Nagaoka University of Technology), Yuki Yokokura (Department of Electrical Engineering,Nagaoka University of Technology), Masataka Sato (Department of Engineering, Nabtesco Corporation Precision Equipment Company)

キーワード: industrial robot，reduction gear，angular transmission error，nonlinear modeling，state observer，vibration suppression

要約(英語): This paper proposes a method for suppressing the vibrations that occur under load conditions in trochoidal reduction gears. For the proposed suppression method, a general-purpose vibration-suppression control system based on a disturbance observer is constructed without the use of a load-side sensor or the individual values of the reduction gear. The proposed method is shown to effectively improve the accuracy of the trajectory tracking. This paper proposes a new model for calculating the angular transmission error caused by a deformation of a trochoidal gear under load conditions. Using the state observer designed along with this model, the shaft torsional vibration produced under load conditions is estimated. The experimental results validate the proposed angular transmission error model and confirm the improved accuracy of the trajectory tracking.

本誌: IEEJ Journal of Industry Applications Vol.5 No.3 （2016）

本誌掲載ページ: 267-275 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/5/3/5_267/_article/-char/ja/