JP2001086779A5 - - Google Patents
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- JP2001086779A5 JP2001086779A5 JP1999261601A JP26160199A JP2001086779A5 JP 2001086779 A5 JP2001086779 A5 JP 2001086779A5 JP 1999261601 A JP1999261601 A JP 1999261601A JP 26160199 A JP26160199 A JP 26160199A JP 2001086779 A5 JP2001086779 A5 JP 2001086779A5
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- torque
- gain characteristic
- gain
- characteristic
- frequency
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- 230000001629 suppression Effects 0.000 description 4
- 230000000875 corresponding Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
Description
2慣性ねじれ軸系トルク制御において、考慮すべき制御性能には外乱抑制特性(フィードバック特性)と指令追従特性(目標値追随特性)がある。
まず、外乱抑制特性から、外乱トルクTLの印加により生じた軸のねじれ振動を抑えるために、図4の(a)の点線(ア)のような前記開ループ伝達関数GL(s)の周波数応答ゲイン特性のピークを抑える必要がある。
また、図4の(b)に同図の(a)のゲイン特性(ア),(イ)に対応する位相特性を示している。
一方、指令追従特性から、軸トルクTcをトルク指令T*に速やかに且つ振動なく追従させるために、前記トルク指令T*から前記軸トルクTcまでの閉ループ伝達関数Ф*(s)を図5の(a)の実線(ウ)のような望ましい周波数応答ゲイン特性を持たせる必要がある。即ち、0周波数から共振周波数ωoの近辺までの周波数帯域で、ゲイン特性は常に定数の0dBに近い値を持たなければならない。
また、図5の(b)に同図の(a)のゲイン特性(エ),(オ),(カ)に対応する位相特性を示している。
2 Inertial torsion shaft system torque control, control performance to be considered includes disturbance suppression characteristics (feedback characteristics) and command tracking characteristics (target value tracking characteristics).
First, from the disturbance suppression characteristics, in order to suppress the torsional vibration of the shaft caused by the application of the disturbance torque TL , the open-loop transfer function GL (s) as shown by the dotted line (a) in FIG. It is necessary to suppress the peak of the frequency response gain characteristic.
Further, (b) of FIG. 4 shows the phase characteristics corresponding to the gain characteristics (a) and (b) of (a) of the same figure.
On the other hand, from the command following characteristics, in order to make the shaft torque T c follow the torque command T * quickly and without vibration, the closed loop transfer function Ф * (s) from the torque command T * to the shaft torque T c is shown. It is necessary to have a desirable frequency response gain characteristic such as the solid line (c) of 5 (a). That is, in the frequency band from the 0 frequency to the vicinity of the resonance frequency ω o , the gain characteristic must always have a value close to the constant 0 dB.
The gain characteristics of the figure (a) to (b) of FIG. 5 (d), (e) shows the phase characteristic corresponding to (F).
比例ゲインKpkが0となるので、このとき、直列補償器5をID制御器に簡略できる。以下、このID制御器を一番目のPID制御器とし、”PID制御器1”と呼ぶ。
このPID制御器1のみによる2慣性ねじれ軸系トルク制御では、図4の(a)の実線(イ)で示すように、外乱トルクTLから軸トルクTcまでの閉ループ伝達関数ФL1(s)の周波数応答ゲイン特性は元の開ループゲイン特性(同図(a)の点線(ア))と比べて高いピークが低く抑えられたので、外乱抑制特性が改善されたことがわかる。具体的に計算すれば、ゲイン特性|ΦL1(jω)|の値を最大にする周波数ωaおよびゲイン特性の最大値|ΦL1(jω a )|は、d|ΦL1(jω)|/dω=0より下記数14に示す(17)式のように計算できる。
Since the proportional gain K pk is 0, the series compensator 5 can be simplified to an ID controller at this time. Hereinafter, this ID controller will be referred to as the first PID controller and will be referred to as "PID controller 1".
In the two-inertion torsional shaft system torque control using only the PID controller 1, as shown by the solid line (a) in FIG. 4 (a), the closed loop transfer function Ф L1 (s ) from the disturbance torque TL to the shaft torque T c. As for the frequency response gain characteristic of)), the high peak was suppressed lower than the original open loop gain characteristic (dotted line (a) in FIG. 6A), so that it can be seen that the disturbance suppression characteristic was improved. Specifically, the frequency ω a that maximizes the value of the gain characteristic | Φ L1 (jω) | and the maximum value of the gain characteristic | Φ L1 (jω a ) | are d | Φ L1 (jω) | / From dω = 0, it can be calculated as shown in Eq. (17) shown in Equation 14 below.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26160199A JP4375849B2 (en) | 1999-09-16 | 1999-09-16 | 2-inertia torsional shaft structure variable 2 degrees of freedom torque control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26160199A JP4375849B2 (en) | 1999-09-16 | 1999-09-16 | 2-inertia torsional shaft structure variable 2 degrees of freedom torque control method |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2001086779A JP2001086779A (en) | 2001-03-30 |
JP2001086779A5 true JP2001086779A5 (en) | 2006-07-06 |
JP4375849B2 JP4375849B2 (en) | 2009-12-02 |
Family
ID=17364179
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP26160199A Expired - Lifetime JP4375849B2 (en) | 1999-09-16 | 1999-09-16 | 2-inertia torsional shaft structure variable 2 degrees of freedom torque control method |
Country Status (1)
Country | Link |
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JP (1) | JP4375849B2 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104993766B (en) * | 2015-08-05 | 2017-06-30 | 南京埃斯顿自动控制技术有限公司 | A kind of two quality system resonance suppressing methods |
JP6922747B2 (en) * | 2018-01-11 | 2021-08-18 | トヨタ自動車株式会社 | Motor torque control device |
CN109048907B (en) * | 2018-08-23 | 2020-10-16 | 广东工业大学 | Robot control method for eliminating inertia change |
-
1999
- 1999-09-16 JP JP26160199A patent/JP4375849B2/en not_active Expired - Lifetime
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