Acceleration Control based Resonance Ratio Control for Less Vibration Position Control of Two-Inertia System

カテゴリ: 研究会(論文単位)

論文No: SPC12090, MD12028

グループ名: 【D】産業応用部門 半導体電力変換/【D】産業応用部門 モータドライブ合同研究会

発行日: 2012/06/08

タイトル(英語): Acceleration Control based Resonance Ratio Control for Less Vibration Position Control of Two-Inertia System

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

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

要約(日本語): Motion control plays a vital role in industrial application for the rapid progress of robot control. 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 P-PI_I and resonance ratio control method. The P-PI-I force controller is role as effective vibration suppression. For confirmation to validity of the proposed acceleration control method, position control is using P-D control based on the proposed acceleration control in this paper. The effectiveness of the proposed control system is confirmed by the experimental results.

要約(英語): Motion control plays a vital role in industrial application for the rapid progress of robot control. 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 P-PI_I and resonance ratio control method. The P-PI-I force controller is role as effective vibration suppression. For confirmation to validity of the proposed acceleration control method, position control is using P-D control based on the proposed acceleration control in this paper. The effectiveness of the proposed control system is confirmed by the experimental results.

原稿種別: 日本語

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