{"product_id":"ieej-spc12090md12028","title":"Acceleration Control based Resonance Ratio Control for  Less Vibration Position Control of Two-Inertia System","description":"\u003cp\u003e\u003cstrong\u003eカテゴリ: \u003c\/strong\u003e研究会(論文単位)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e論文No: \u003c\/strong\u003eSPC12090, MD12028\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eグループ名: \u003c\/strong\u003e【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\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e発行日: \u003c\/strong\u003e2012\/06\/08\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eタイトル(英語): \u003c\/strong\u003eAcceleration Control based Resonance Ratio Control for  Less Vibration Position Control of Two-Inertia System\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名: \u003c\/strong\u003eMoe  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)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名(英語): \u003c\/strong\u003eMya Mya  Moe (Nagaoka University of Technology),Naoki Shimada(Nagaoka University of Technology),Kiyoshi Ohishi(Nagaoka University of Technology),Toshimasa Miyazaki(Nagaoka University of Technology)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eキーワード: \u003c\/strong\u003eRobust control|Two-inertia System|Acceleration Control|Resonance Ratio Control|Disturbance  Observer\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(日本語): \u003c\/strong\u003eMotion 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. \u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(英語): \u003c\/strong\u003eMotion 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. \u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e原稿種別: \u003c\/strong\u003e日本語\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003ePDFファイルサイズ: \u003c\/strong\u003e984 Kバイト\u003c\/p\u003e","brand":"IEEJ-PDF","offers":[{"title":"PDFダウンロード（一般価格330円\/会員価格220円） \/ A4 \/ 6","offer_id":46393358778607,"sku":"IEEJ-SPC12090MD12028-PDF","price":330.0,"currency_code":"JPY","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0718\/9512\/2159\/files\/IEEJ-PDF_9d261806-34a2-4e71-a3c3-132a402c276e.png?v=1744689405","url":"https:\/\/ieej.bookpark.ne.jp\/products\/ieej-spc12090md12028","provider":"電気学会 電子図書館","version":"1.0","type":"link"}