Vibration suppression control of geared mechanical system with power-circulation structure:

Simulation study on sensor-based control using the performance index composed of the control error area and the current consumption area

抄録

In the field of industrial machines, the mechanical systems composed of the power-circulation structure exist, and the powers of two or more motors of the same output are synthesized through the gear stages to drive the driven machine part and the desired motion of the machine is achieved. However, in the mechanical system with a power-circulation structure, the residual vibration related to the natural frequency in the lower-frequency range will be generated when the motor starts or stops. This phenomenon causes problems such that the productivity of the mechanical system will be reduced. In this paper, the case that the power-circulation mechanism is driven by two motors is taken up, and the vibration suppression control of this mechanical system is investigated by simulations. First, the analytical model for the torsional vibration and the analytical results are shown. Second, a sensor-based control related to the velocity control loop is proposed to reduce the residual vibration. The effect of the sensor-based control was confirmed by using the performance evaluation index of the control error area and the current consumption area. Simulations show satisfactory control results to reduce the transient vibration at the driven machine part.