CN100565391C - The vibration suppression control method and the device of multi-inertia resonance system - Google Patents

Abstract

Problem of the present invention is for stablizing the resonance mode of multi-inertia resonance system.For the resonance mode of single order, implement the vibration control of two inertia resonance systems is effectively resonated than control, for the high frequent vibration pattern higher, use phase lead compensation than first order resonant pattern, make all resonance limits stable.On the other hand, for the high load of rigidity that can ignore axle distortion counter-force, disturb observer outside only using and carry out phase lead compensation, and then make all resonance limits stable.

Description

The vibration suppression control method and the device of multi-inertia resonance system

Technical field

The present invention relates to the vibration suppression control method and the device of multi-inertia resonance system, relate in particular to the vibration suppression control of the motor control assembly that is used in elastic mechanical hand or XY robot etc.

Background technology

Usually, in the motor driven systems that uses elastic mechanical hand or ball wire or the synchronous XY robot that is with etc., illustration as Fig. 1, with motor M and load A, consider more preferably that by specific rigidity light-weighted low rigidity elastic shaft (the belt B that sets up in the drawings) comes in conjunction with constituting resonator system, exists problems such as the axle torsional vibration takes place between pulley.

Actual resonator system owing to have a plurality of vibration modes or natural frequency, therefore as the illustration of Fig. 2, comes modelling as multi-inertia resonance system.In Fig. 2, Jm is the inertia of motor M, Kf1, Kf2 ... for, spring constant, Ja1, Ja2 ... Jan is the inertia of load A.

This multi-inertia resonance system is represented by block diagram as shown in Figure 3.In Fig. 3, θ m represents that the anglec of rotation (motor position), the θ a of motor M represent the to load anglec of rotation (load position), the T of A represents that torque, s represent that Laplace operator, subscript a represent that load, subscript dis represent outer disturbing, and subscript reac represents an axle distortion counter-force.

Control with disturbing inhibition outward for the vibration suppression of such resonator system, disturb to observe outside proposition STATE FEEDBACK CONTROL or H ∞ control, lag behind and control, resonate than the methods such as (with reference to non-patent literatures 1) of control.

Yet, STATE FEEDBACK CONTROL or H ∞ control because its control system complexity, and calculated amount is huge etc., therefore needs at a high speed, high performance CPU, thereby in being applicable to actual machine aspect existing problems.

Correspondence is disturbed observation control and resonance therewith than controlling outside lagging behind, be made of fairly simple control system, and its practicality is higher.

Yet, in the off-resonance control of in non-patent literature 1, being put down in writing, with system, as coming modelling in conjunction with two inertia resonance systems of motor and support by pliable and tough driving shaft, though therefore first order resonant is had outstanding effect, but exist in the situation of causing high-order resonance in actual many inertia systems etc., the problem low to the effect of high frequent vibration.

On the other hand, in patent documentation 1, be documented in the technology that is provided with phase lead filter in servo (servo) system, however the formation complexity of this technology, need accurate calculating and computing time elongated, thereby can not realize by the control device of cheapness.And design is also complicated, has the problem that is difficult to find the stable parameter of response.

No. 3381880 communique of [patent documentation 1] special permission

[non-patent literature 1] formed he ' according to the vibration suppression control of resonance than two inertia resonance systems of control ' electricity opinion D, 113 and rolled up (putting down into 5 years) No. 10,1162 pages～1169 pages.

Summary of the invention

The present invention Given this, it is a kind of that its purpose is to provide, by simple structure, realize not only comprising the first order resonant pattern, also comprises the high frequent vibration pattern higher than first order resonant pattern, the stabilization of all resonance limits.

The present invention, under the situation of the vibration suppression control of carrying out multi-inertia resonance system, implement resonance than control for the first order resonant pattern, implement phase lead compensation for the high frequent vibration pattern higher than first order resonant pattern, so that realize the stabilization of all resonance limits, and then solve above-mentioned problem.

Also have, change the outer nominal value of the motor inertia in the observer and the ratio of the value of the motor inertia of reality of disturbing that is used in the ratio control of resonating,, thereby do not need other phase lead compensation mechanism so that carry out above-mentioned phase lead compensation.

Also have,, be configured in, thereby make phase lead compensation and resonate than control and deposit than in the limit inside of resonance than control with the pole and zero of above-mentioned phase lead compensation.

The present invention also has, and for the high load of rigidity that can ignore axle distortion counter-force, disturbs observer outside only using and carries out phase lead compensation, and then realize the stabilization of all resonance limits.

The present invention provides in addition, possesses: resonance is applicable to the first order resonant pattern than control gear; With phase lead compensation mechanism, be applicable to that the above high frequent vibration pattern of second order is the vibration suppression control device of the multi-inertia resonance system of feature.

Also have, above-mentioned resonance is than control gear, infers observer with an axle distortion counter-force and constitutes by disturbing observer outward.

The present invention provides in addition, for the high load of rigidity that can ignore axle distortion counter-force, disturbs observer so that can carry out the vibration suppression control device of phase lead compensation as the multi-inertia resonance system of feature outside only using.

Also have, be set at value,, thereby do not need other phase lead compensation mechanism so that carry out above-mentioned phase lead compensation greater than the motor inertia of reality with being used in above-mentioned outer nominal value of disturbing the motor inertia in the observer.

In the present invention, resonate than control, add phase lead compensation, therefore implement the vibration control of two resonator systems is effectively resonated than control for the first order resonant pattern, use phase lead compensation to realize the stabilization of resonance limit for the high frequent vibration pattern higher, thereby can realize the stabilization of all resonance limits than first order resonant pattern.

At this, phase lead compensation compensation control, for example will use the outer nominal value Jmn that disturb motor inertia in observer interior than control with resonance, be set at the big (Jmn＞Jm) of value Jm than the motor inertia of reality, thereby do not add other phase lead compensation mechanism, can realize phase lead compensation control.

Also have, carry out based on outside disturb under the situation of control of observer, can have vibration suppressioning effect and also guarantee robustness.

Also have, control system is simpler than STATE FEEDBACK CONTROL or H ∞ control, and operand is less, does not therefore need to use the high CPU of price etc.In addition, design or adjustment are also easy.

Also have,, only use and disturb observer and can carry out phase lead compensation outward for the high load of rigidity that can ignore axle distortion counter-force.

Description of drawings

Fig. 1 is the structural drawing of an example of expression objective for implementation of the present invention.

Fig. 2 is the illustraton of model of an example of expression objective for implementation of the present invention.

Fig. 3 is the block diagram of an example of expression objective for implementation of the present invention.

Fig. 4 is the entire block diagram of first embodiment of the present invention.

Fig. 5 is that expression is used in the outer block diagram of disturbing the structure of observer in first embodiment.

Fig. 6 is by above-mentioned outer block diagram of disturbing the acceleration control system of observer formation.

Fig. 7 is that the axle that expression is used in first embodiment twists the block diagram that counter-force is inferred the structure of observer.

Fig. 8 is the block diagram that expression is used in the axle distortion counter-force feedback in first embodiment.

Fig. 9 is the frame line chart of equal value of Fig. 8.

To be expression disturb the block diagram of phase compensation of the parameter change of observer according to being used in outer in first embodiment to Figure 10.

Figure 11 represents to be used in the figure of the pole and zero of the multi-inertia resonance system in first embodiment.

Figure 12 is the frame line chart that is illustrated in when carrying out phase compensation in two inertia resonance systems that are used in first embodiment.

The figure of the configuration of the pole and zero when Figure 13 is the phase-lag compensation of comparative example of expression 0＜α＜1.

Figure 14 is the figure of the root locus when carrying out phase-lag compensation in three inertia systems of expression to the comparative example of 0＜α＜1.

The figure of the configuration of the pole and zero when Figure 15 is the phase lead compensation of the present invention that is illustrated in α＞1.

Figure 16 is the figure of the root locus when carrying out according to phase lead compensation of the present invention in three inertia resonance systems that are illustrated in α＞1.

Figure 17 is the figure of the POLE PLACEMENT USING of expression first embodiment.

Figure 18 is the entire block diagram of second embodiment of the present invention.

Among the figure: the M-motor; The A-load; 10-disturbs observer outward; 20-axle distortion counter-force ultramagnifier; The 30-phase compensator.

Embodiment

With reference to the accompanying drawings, explain embodiments of the present invention.

The block diagram of the integral body of the control device of expression first embodiment of the present invention in Fig. 4 (will load in the drawings and represent as two inertia resonance systems, yet also identical under the situation of multi-inertia resonance system).

In this control device, use as shown in Figure 5 outer to disturb observer 10 and an axle distortion counter-force is as shown in Figure 7 inferred observer 20, resonate than control, and carry out the vibration suppression control of multi-inertia resonance system.

To disturb observer 10 outward and be applicable to motor side,, can set up robust acceleration control system shown in Figure 6 so that can offset, remove the various outer influences of disturbing that act in the motor.

That is, can will act on the outer torque Tdism that disturbs of motor as shown in the formula expression.

Tdism＝(Jm-Jmn)(d ²θm/dt ²)+(Ktn-Kt)Ia ^ref

+Tfric+Dm(dθm/dt)+Treac …(1)

Wherein, Ia ^RefFirst expression inertia change torque on expression reference current value, formula the right, second expression torque pulsation (ripple), the 3rd expression coulomb friction torque, the 4th expression viscous friction torque, the 5th expression axle distortion counter-force.

Act on the outer torque Tdisa that disturbs that meets, be included among the axle distortion counter-force Treac, so that to the motor effect.When detecting reference current value Ia ^RefDuring with motor speed, in formula (1) definition the outer torque Tdism that disturbs, by the outer observer 10 of disturbing shown in Figure 5, via the low-pass filter of single order, be estimated as shown in the formula.In Fig. 5, Icmp is used for by compensating the outer offset current that robustness is guaranteed in torque of disturbing.

[several 1]

${\mathrm{Tdism}}^{*}=\frac{\frac{\mathrm{Jmn}}{\mathrm{Jm}}\mathrm{Gdis}}{s+\frac{\mathrm{Kt}}{\mathrm{Ktn}}\frac{\mathrm{Jmn}}{\mathrm{Jm}}\mathrm{Gdis}}\mathrm{Tdism}\·\·\·\left(2\right)$

Feed back this and infer and outer disturb torque Tdism, externally disturb control system with robustness so that can set up.

Based on this outer robust control system of disturbing observer 10, become acceleration control system as shown in Figure 6.To disturb outward as can be known observation gain G dis be set at bigger so that eliminate outer influence of disturbing torque Tdism.By the way, motor becomes the robust control system of eliminating axle distortion counter-force Treac, not being subjected to the influence of load side.

To disturb observer 10 outward and be applicable to motor side,, therefore cause the vibration of load side so that offset, remove axle distortion counter-force Treac as the information of unique load side.

Therefore, utilize have with disturb outward observer substantially the axle distortion counter-force of same structure infer observer 20, carry out inferring of axle distortion counter-force Treac.

Disturb among the torque Tdis at the outer of formula (1), with the nominal value Jmn of motor inertia, as the value of verifying (identify) by acceleration test, so that can remove the influence of the change torque of motor inertia.Also have, with static friction torque Tfric, viscous friction torque Dm (d ²θ m/dt ²) by at the uniform velocity verifying, by the mode of offseting, axle distortion counter-force Treac is as shown in the formula inferring.

Treac ^*＝Tdism ^*-Tfric-Dm(dθm/dt) …(3)

Expression axle distortion counter-force is inferred the frame line chart of observer 20 in Fig. 7.Greac is to twist the cutoff frequency that counter-force is inferred the low-pass filter of the single order that comprises in the observer 20 at axle.

In Fig. 8, be illustrated in outside disturb that observer 10 is applicable on the motor side so that constitute in the controlling object of acceleration control system, the system of resetting shaft distortion counter-force Treac.Kr is the feedback gain of axle distortion counter-force Treac, can at random set.

Acceleration reference value (d from this system ²θ m/dt ²) ^RefTransport function till the beginning motor position θ m is as follows respectively with the transport function that begins from motor position θ m till the load position θ a.

[several 2]

$\mathrm{\&theta;m}=\frac{\mathrm{Ja}\&CenterDot;s^2+\mathrm{Kf}}{\mathrm{Js}\&CenterDot;s^2+\mathrm{Kf}(1+\mathrm{KrJa})}\frac{1}{s^2}{\left(\frac{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">d</figure-callout>}}^2\mathrm{\&theta;m}}{{\mathrm{dt}}^2}\right)}^{\mathrm{ref}}\&CenterDot;\&CenterDot;\&CenterDot;\left(4\right)$

$\mathrm{\&theta;a}=\frac{\mathrm{Kf}}{\mathrm{Ja}\&CenterDot;s^2+\mathrm{Kf}}\mathrm{\&theta;m}\&CenterDot;\&CenterDot;\&CenterDot;\left(5\right)$

Also have, motor resonant frequency ω m and load resonant frequency ω a are defined as follows.

[several 3]

$\mathrm{\&omega;m}=\sqrt{\frac{\mathrm{Kf}}{\mathrm{Ja}}(1+\mathrm{KrJa})}\&CenterDot;\&CenterDot;\&CenterDot;\left(6\right)$

$\mathrm{\&omega;a}=\sqrt{\frac{\mathrm{Kf}}{\mathrm{Ja}}}\&CenterDot;\&CenterDot;\&CenterDot;\left(7\right)$

At this, will resonate than K, in following formula, define.

$K=\mathrm{\&omega;m}/\mathrm{\&omega;a}\&CenterDot;\&CenterDot;\&CenterDot;\left(8\right)$

$=\sqrt{\mathrm{}}(1+\mathrm{KrJa})\&CenterDot;\&CenterDot;\&CenterDot;\left(9\right)$

Load resonant frequency ω a becomes in motor side as the antiresonant frequency that acts on zero point.ω a does not comprise arbitrary parameter and determines by controlling object.Also have, can not control the feedback of status of motor side.

On the other hand, ω m is the resonant frequency of motor side, and Kr can at random set by axle distortion counter-force feedback gain.

Utilizing formula (6), (7), is the frame line chart of Fig. 9 with Fig. 8 equivalence transformation.As shown in Figure 9, load side resonance limit ω a, the short of operation of being undertaken by the motor side feedforward at zero point, and in motor side, do not have limit to offset zero point, just offset zero point with the motor side antiresonance.

Resonance is twisted counter-force Treac feedback than control with axle, and resonance at random can be set than K by axle distortion counter-force feedback gain Kr.

Control resonance is equivalent to control virtual motor inertia than K, when resonance is bigger than K, promptly under the bigger situation of feedback gain Kr, diminishes for load inertia motor inertia, and is subjected to the influence of load side easily.In addition, also identical under reverse situation.

To resonate and be set at than K

$K=\sqrt{\mathrm{}}5\&CenterDot;\&CenterDot;\&CenterDot;\left(10\right)$

,, also can realize vibration suppression, the outstanding gain setting of adaptability so that to two any inertia resonance systems.

Each gain is for as follows.

Kr＝4/Ja …(11)

Kp＝ωa ² …(12)

Kv＝4ωa …(13)

At this, as if outer the disturbing that is applied in the motor M, only constitute by the outer torque Tdism that disturbs according to the parameter change, then be expressed as formula.

Tdism＝(Jm-Jmn)(d ²θm/dt ²)+(Ktn-Kt)Ia ^ref…(14)

If parameter change considered and be updated in the calculating, then from the acceleration reference value (d of motor ²θ m/dt ²) ^RefBeginning acceleration responsive value d ²θ m/dt ²Till transport function, become as shown in the formula.

$\frac{\frac{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">d</figure-callout>}}^2\mathrm{\&theta;m}}{{\mathrm{dt}}^2}}{{\left(\frac{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">d</figure-callout>}}^2\mathrm{\&theta;m}}{{\mathrm{dt}}^2}\right)}^{\mathrm{ref}}}=\frac{\frac{\mathrm{Kt}}{\mathrm{Ktn}}s+\mathrm{Gdi}{s}^{*}}{\frac{\mathrm{Jm}}{\mathrm{Jmn}}s+G{\mathrm{dis}}^{*}}\&CenterDot;\&CenterDot;\&CenterDot;\left(15\right)$

At this, it is minimum that the change of torque is become, and with being used in outer nominal value Jmn, the Ktn that disturbs in the observer 10, is set at as follows.

Jmn＝αJm …(16)

Ktn＝Kt …(17)

In the past, Jm=Jmn promptly, controls in α=1 mode.

If formula (16), (17) are updated in the formula (15), then can obtain with following formula.

$\frac{\frac{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">d</figure-callout>}}^2\mathrm{\&theta;m}}{{\mathrm{dt}}^2}}{{\left(\frac{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">d</figure-callout>}}^2\mathrm{\&theta;m}}{{\mathrm{dt}}^2}\right)}^{\mathrm{ref}}}=\frac{s+\mathrm{<figure-callout\; id="1"\; label="Gdis"\; filenames="C2006101000790015H1.png,C2006101000790017H1.png"\; state="\{\{state\}\}">Gdis</figure-callout>}}{\frac{1}{\mathrm{\&alpha;}}s+\mathrm{Gdis}}\&CenterDot;\&CenterDot;\&CenterDot;\left(18\right)$

If represent that by the frame line chart this formula (18) then becomes as Figure 10.

As shown in Figure 10, with for acceleration reference value (d ²θ m/dt ²) ^Ref, add (s+Gdis)/phase compensation 30 of (1/ α) s+Gdis}, and, make the cutoff frequency of Hi-pass filter become α mode equivalence doubly for disturbing Tdism outward.

At this,

α＜1 o'clock phase-lag compensation, disturb observer gain outward and reduce

α＞1 o'clock phase lead compensation, disturb observer gain outward and increase

That is, outside being used in, change disturbs the nominal value Jmn of the motor inertia in the observer 10 and the ratio α of the value Jm of the motor inertia of reality, so that can obtain changing the phase compensation of acceleration reference value and the effect of disturbing the cutoff frequency of observer outward.

Then, in multi-inertia resonance system, utilize root locus to be illustrated in the vibration suppressioning effect that changes under the situation that is used in the nominal value Jmn that disturbs the motor inertia in the observer 10 outward.

In Figure 11, the limit (* symbol) and zero point (zero symbol) of diagram multi-inertia resonance system on complex plane.Re is that real axis, Im are the imaginary axis.As can be known, the pole and zero of multi-inertia resonance system mutually alternately and exist on the imaginary axis Im.

In the following description, in order to pursue simple with two inertia resonance systems as the situation that load carries out phase compensation, make an explanation.In Figure 12, be illustrated in the frame line chart when two inertia resonance systems are carried out phase compensation.At this θ cmd is that position command value (can at random set), Cp are the gain of proportional control.

The transport function of Figure 12 is as follows.

[several 6]

$\frac{\mathrm{\&theta;m}}{\mathrm{\&theta;cmd}}=\frac{n\left(s\right)}{d\left(S\right)}\&CenterDot;\&CenterDot;\&CenterDot;\left(19\right)$

n(s)＝Cp(s ³+αGdis·s ²+ωa ²s+αGdis·ωa ²) …(20)

$d\left(s\right)=\frac{1}{\mathrm{\&alpha;}}{s}^5+\mathrm{\&alpha;Gdis}\&CenterDot;s^4+(\frac{1}{\mathrm{\&alpha;}}\mathrm{\&omega;}{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">m</figure-callout>}}^2+\mathrm{Cp})s^3+(\mathrm{\&alpha;Gdis}\&CenterDot;\mathrm{\&omega;}{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">m</figure-callout>}}^2+\mathrm{Cp\&alpha;Gdis}){\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">s</figure-callout>}}^2$

$+\mathrm{Cp}\&CenterDot;\mathrm{\&omega;}{a}^{2}s+\mathrm{Cp\&alpha;Gdis}\&CenterDot;\mathrm{\&omega;}{a}^2\&CenterDot;\&CenterDot;\&CenterDot;\left(21\right)$

$\frac{\mathrm{\&theta;a}}{\mathrm{\&theta;m}}=\frac{\mathrm{\&omega;}{a}^2}{{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="C2006101000790015H1.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+\mathrm{\&omega;}{a}^2}\&CenterDot;\&CenterDot;\&CenterDot;\left(22\right)$

By the value of phase compensator 30, characteristic variations.That is, phase compensator 30 in 0＜α＜1 o'clock, becomes phase-lag compensation.In this case with pole and zero as Plag, Zlag, then be expressed as.

Plag＝[0，0，jωm，-jωm，-αGdis] …(23)

Zlag＝[jωa，-jωa，Gdis] …(24)

If these pole and zeros of diagram then become as shown in figure 13.* be that limit, zero is zero point.

At this, the angle that the limit-α Gdis of phase-lag compensation device 30 and vibration limit s=j ω m are formed, with the angle that zero point, s=j ω a formed of antiresonance, respectively as θ p, φ p.The angle that also has angle that the zero point-Gdis of phase-lag compensation device 30 and vibration limit s=i ω m are formed, forms with antiresonance s=j at zero point ω a is respectively as θ z, φ z.

In this case, the emergence angle θ i of each limit ^dThe incident angle θ i at (i=1～5) and zero point ^a(i=1～3) are calculated as follows.

θ1 ^d＝-π

θ2 ^d＝-π

θ3 ^d＝θz-θp+(π/2)

θ4 ^d＝-{θz-θp+(π/2)}

θ1 ^a＝-Φz+φp-(π/2)

θ2 ^a＝-{-Φz+Φp-(π/2)}

In Figure 14, the root locus when expression is carried out phase-lag compensation to three inertia resonance systems.If change proportional control gain Cp, can determine that then system is certainly to unsettled direction motion.

On the one hand, phase compensator 30 under the situation of α＞1, becomes phase lead compensation.If general's pole and zero in this case then is expressed as Plead, Zlead.

Plead＝[0，0，jωm，-jωm，-Gdis] …(25)

Zlead＝[jωa，-jωa，Gdis] …(26)

If these pole and zeros are represented then to become as shown in figure 15 in the drawings.

At this, the angle that the limit-α Gdis of phase advancer 30 and vibration limit s=j ω m are formed, with the angle that zero point, s=i ω a formed of antiresonance, respectively as θ p, φ p.The angle that also has angle that the zero point-Gdis of phase advancer 30 and vibration limit s=i ω m are formed, forms with antiresonance s=j at zero point ω a is respectively as θ z, φ z.

In this case, the emergence angle θ i of each limit ^dThe incident angle θ i at (i=1～5) and zero point ^a(i=1～3) are calculated as follows.

θ1 ^d＝-π

θ2 ^d＝-π

θ3 ^d＝θz-θp+(π/2)

θ4 ^d＝-{θz-θp+(π/2)}

θ1 ^a＝-Φz+Φp-(π/2)

θ2 ^a＝-{-Φz+Φp-(π/2)}

In Figure 16, be illustrated in three inertia resonance systems the root locus when carrying out according to phase lead compensation of the present invention.If change proportional control gain Cp, then can the affirmation system move to stable direction certainly.

These for the high-order resonator system, also can obtain same result.That is,, can carry out the vibration suppression control of multi-inertia resonance system as can be known to carry out the mode of phase lead compensation.

In the present embodiment, be used in the outer mode of disturbing nominal value Jmn with the ratio α of the value Jm of the motor inertia of reality of the motor inertia in the observer 10 that resonates than in the control with change, do not add phase advancer 30 especially again, realize these phase lead compensation.

In order to make this phase lead compensation and resonance ratio control and deposit, the pole and zero of phase lead compensation need be configured in than in the limit inside of resonance than control.Promptly, the POLE PLACEMENT USING of The whole control system is set at as shown in figure 17 mode, so that for the single order vibration mode, do not control energetically than control by resonance, vibration mode for the high-order higher than single order vibration mode, because original influence is less, can guarantee stability by phase lead compensation.

Also have, in the first embodiment, motor is combined by pliable and tough driving shaft with load, axle distortion becomes the lower control system of the rigidity of problem as object, yet it is higher and do not need under the situation of a skew compensation with the rigidity of axle at load, second embodiment as shown in figure 18 can omit counter-force and infer observer, only by constituting phase lead compensation control around observer 10 outward.

In this second embodiment, also by the phase lead compensation effect, the stabilization of the identical limit that can realize resonating with first embodiment.

Also have, in the above-described embodiment, in the speed operational part, use P (ratio) control, yet the control kind of speed computing is not limited to this, also can uses PI (proportional integral) control, PD (proportion differential) control, PID (proportion integration differentiation) control etc.Also have, can replace using axle distortion counter-force to infer observer, and use linear encoder etc., measure the method for the position of load side.Objective for implementation also is not limited to elastic mechanical hand or XY robot.

Claims (8)

1, a kind of vibration suppression control method of multi-inertia resonance system,

For the first order resonant pattern, implement resonance than control, for the high frequent vibration pattern higher, implement phase lead compensation than first order resonant pattern.

2, the vibration suppression control method of multi-inertia resonance system as claimed in claim 1 is characterized in that,

By being used in resonance, carry out described phase lead compensation than the outer value of disturbing the nominal value of the motor inertia in the observer in the control greater than the motor inertia of reality.

3, as the vibration suppression control method of claim 1 or 2 described multi-inertia resonance systems, it is characterized in that,

With the pole and zero of described phase lead compensation, be configured in than the limit inside of resonance than control.

4, a kind of vibration suppression control method of multi-inertia resonance system is characterized in that,

For the high load of rigidity that can ignore axle distortion counter-force, disturb observer outside only using and carry out phase lead compensation.

5, a kind of vibration suppression control device of multi-inertia resonance system is characterized in that possessing:

Resonance is than control gear, and it is suitable for the first order resonant pattern; With

Phase lead compensation mechanism, it is suitable for the high frequent vibration pattern more than the second order.

6, the vibration suppression control device of multi-inertia resonance system as claimed in claim 5 is characterized in that,

Described resonance is inferred observer and is constituted by disturbing an observer and an axle distortion counter-force outward than control gear.

7, a kind of vibration suppression control device of multi-inertia resonance system is characterized in that,

It is arranged to for the high load of rigidity that can ignore axle distortion counter-force, disturbs observer outside only using and carries out phase lead compensation.

8, as the vibration suppression control device of claim 5 or 6 described multi-inertia resonance systems, it is characterized in that,

Be set at value by being used in described outer nominal value of disturbing the motor inertia in the observer, carry out described phase lead compensation greater than the motor inertia of reality.

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