位相進み補償に基づく多慣性共振系の振動抑制制御

抄録

Vibration suppression in motion control system is an important problem in industry applications. This paper proposes a novel vibration control of multi-mass resonant system based on the resonant ratio control and phase-lead compensator. The resonance ratio control is one of the effective control methods of two-mass resonant system. In this method, the ratio between the resonant frequency of motor and arm is determined arbitrary according to the feedback of estimated reaction torque. However, conventional resonant ratio control has not considered the higher order of resonant frequencies.
This paper clarifies the influence of the parameter variation of a disturbance observer on acceleration control system. The effect of phase-lead on the acceleration reference is attained by setting the nominal inertia value larger than the real inertia. The phase-lead compensator can stabilize all resonant poles of multi-mass resonant system. The proposed phase-lead compensator by the disturbance observer is based on both PD control and the resonance ratio control and the determination method of pole placement is discussed. Since the proposed phase-lead system is based on disturbance observer technique, it can realize both suppression of vibration and robustness in motion systems. The numerical and experimental results show viability of the proposed method.