Vibration inhibition control method for multi-inertia resonance system and device thereof

Abstract

Subject of the invention is to stabilize all the resonance modes of a multi-inertial resonance system. Resonance ratio control effective for oscillation suppression of a two-inertial resonance system is applied to a first-order resonance mode. For oscillation modes of higher-order than that the phase advance compensation is used to stabilize all resonance poles. With respect to a load having high rigidity in which the reaction force to axial torsion can be neglected, all the resonance poles are stabilized by performing phase advance compensation by using only a disturbance observer.

Description

technical field [0001] The present invention relates to a vibration suppression control method and device for a multi-inertia resonance system, in particular to a vibration suppression control used in a motor control device such as an elastic manipulator or an XY robot. Background technique [0002] Generally, in a motor drive system using an elastic manipulator, or an XY robot such as a ball wire or a timing belt, such as figure 1 As an example, the motor M and the load A are combined with a low-rigidity elastic shaft (belt B stretched between the pulleys in the figure) that is more preferable to light weight than rigidity to form a resonance system, and there are problems such as shaft torsional vibrations. . [0003] In the actual resonance system, due to the existence of multiple vibration modes or natural frequencies, such as figure 2 An instantiation of , modeled as a multiple inertial resonance system. exist figure 2 Among them, Jm is the inertia of the motor M,...

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Problems solved by technology

[0008] However, in the non-resonant control described in Non-Patent Document 1, the system is modeled as two inertial resonance systems in which the motor and the bracket are connected through a flexible drive shaft, so although it has an excellent effect on the first-order resonance, However, there is a problem that the effect on high-order vibration is low, such as the case where high-order resonance is induced in an actual multi-inertial system.

[0009] On the other hand, in Patent Document 1, it is described that a phase advance filter is provided in a servo (servo) system. However, the structure of this technology is complicated, and precise calculation is required, and the calculation time becomes long. device to achieve

And the design is also complicated, and there is a problem that it is difficult to find parameters with stable response

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