電気学会論文誌D(産業応用部門誌)
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
論文
フルクローズド制御系における反共振振動抑制制御
吉浦 泰史浅井 雄介加来 靖彦
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2019 年 139 巻 10 号 p. 847-853

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External position sensors such as linear scales are frequently used in motion control systems of industrial machines, and they form a full-closed position feedback loop for accurate positioning. When the velocity signal calculated with the position signal from the motor encoder is used for the velocity control loop, resonance is less likely to occur than when using the velocity signal calculated with the position signal from the external encoder. If the position loop gain is increased, vibration is generated at the anti-resonant frequency, even if the velocity loop is stably controlled with respect to the resonance frequency. Since there is no control method for suppressing the vibration, such as the vibration control method in semi-closed control, the proportional gain of the position feedback loop cannot be made sufficiently high. In this paper, we propose a full-closed control method that suppresses the vibration at anti-resonance frequency and confirm its effectiveness through simulation and experiment.

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