IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Paper
Sensorless Oscillation Control of a Suspended Load with Flywheels
Koichi NishimuraToshiaki TsujiKouhei Ohnishi
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2006 Volume 126 Issue 8 Pages 1119-1125

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Abstract

This study proposes a method of sensorless oscillation control of a suspended load. To suppress oscillation of a suspended load, we use flywheels as a control device. Reaction torque of flywheels is applied for the oscillation control. An angular velocity value of a suspended load must be acquired for the oscillation control. Therefore, a method to estimate the angular velocity value is indispensable. By conventional methods, the estimation and the oscillation control cannot be realized simultaneously in case of one flywheel. Hence, inertia torque observer is proposed. Inertia torque appears as a disturbance torque on flywheels when a suspended load is oscillating. The angular velocity value is calculated based on this inertia toque. By using inertia torque observer, estimation of the angular velocity value and oscillation control of a suspended load are achieved at the same time.

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© 2006 by the Institute of Electrical Engineers of Japan
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