Abstract
This paper proposes a suppression control method of the motor frame vibration caused by the torque ripple. An earlier method utilizes the on-line feedforward compensation signals by the repetitive control and the Fourier series expansion using a vibration signal obtained by an acceleration sensor attached to the motor frame. The method has some suppression effect. However, the earlier method requires much time for generation of the compensation signal. In this paper, a novel configuration for simultaneous on-line vibration suppression control is proposed in order to shorten the amount of time to suppress oscillating frequency. In the configuration, a Parameter Auto-Tuning (PAT) Algorithm which determines proper repetitive control parameters is also proposed. The effectiveness of the proposed method is illustrated through some experimental results.
