PID制御器を用いた三慣性ベンチマーク問題の解法 Design of Controller for Three-Inertia Benchmark Problem Using PID Controller
Vibration suppression control of resonant mechanical systems is one of important problems on motion control. A control for a simple three inertia model of such resonant mechanical systems is given by the SICE as a benchmark problem. Three-inertia systems have two resonant modes. First, we design a PID speed controller in order to suppress the vibration of the first resonant mode of the three-inertia system. Next, we design a position control system using the PID speed controller. The system consists of two control loops. The inner speed control loop includes the PID controller and the outer position control loop includes a proportional controller. However the system is unable to suppress the vibration of the second resonant mode. Therefore we add a phase-lead compensator to the inner control loop of the system to suppress it. It is clarified that the proposed control system is useful for three-inertia systems by computer simulations.
計測自動制御学会論文集 35(2), 238/243, 1999-02
The Society of Instrument and Control Engineers