Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 07, 2022 - March 08, 2022
This paper proposes an acceleration trajectory by using polydyne curves to ramp up and down, which suppresses the residual vibrations related to multiple resonant modes. The polydyne curve is an optimal cam profile that does not excite residual vibrations due to the follower's resonant mode, and it can be applied to a feedforward input for a positioning control. The acceleration and position trajectories are used as a feedforward input in the two-degree-of-freedom controller. For long motion, the acceleration trajectory often dwells at its maximum value in its acceleration and deceleration sections and changes quickly between them. The instantaneous onset of the acceleration makes a large vibration, and suppressing the transient vibration is an important issue on high-speed and high-precision positioning control. The proposed acceleration trajectory with polydyne curve can suppress the transient vibrations; Fifth-order polydyne ramp can suppress one resonant mode, and ninth-order polydyne ramp can do two modes. In addition, another mode can be suppressed by canceling vibrations generated at the beginning and end of the ramp section with each other. A simulation study using a mechanical model which has three resonant modes demonstrated that the proposed acceleration trajectories suppressed the residual vibration completely.
