ギアトルク補償に基づくバックラッシをもつ二慣性系の速度制御 [in Japanese] Speed Control of 2-Inertia System with Gear Backlash based on Gear Torque Compensation [in Japanese]
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In this paper, we propose a novel speed control method for 2-inertia system with gear backlash based on the gear torque compensator. The compensator consists of two elements: the gear torque observer and a feedback gain to be adjusted. The ideal gear torque compensation makes the characteristic from motor torque to motor speed to that of 1-inertia system. However, such a direct usage of the compensator causes harmful vibration due to the torsional shaft. To make a compromise, we introduce a feedback gain and adjust it. By combining this method with a usual PID controller, we realized superior performances in vibration suppression and disturbance rejection. Its effectiveness is shown by simulations and experiments.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 120(1), 5-10, 2000-01
The Institute of Electrical Engineers of Japan