JPH08190402A - Vibration suppressing device for two-inertia resonance system by inertia reduced control - Google Patents

Abstract

PURPOSE: To improve vibration suppression effects on the two-inertial resonance system even when the gain of an axial torque observer is small. CONSTITUTION: The deviation between the angular velocity command ωM* of a motor and the angular velocity ωM of the motor is obtained by a 1st deviation unit 11. The deviation output of the 1st deviation unit 11 is inputted to a speed amplifier 12. The output of this speed amplifier 12 is supplied to an SFC(disturbance suppressing function) part 13. The output of the SFC part 13 is inputted as input torque τ1 to an adder 14 and a primary delay filter part 15. The output of the primary delay filter part 15 is supplied to the plus terminal of a 3rd deviation unit 16 and an axial torque estimated value ΔΤS s is supplied to the minimum terminal from the axial torque observer 17. The output of this 3rd deviation unit 16 is supplied to the adder 14 through a gain part 18 for inertial reduction and this adder 14 adds the input torque and the output of the gain part 18 together to output motor torque τM. This motor torque is inputted to a two-inertial system circuit part 19 and also supplied to the axial torque observer 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration suppressor using a low inertia control, and more particularly to a vibration suppressor of a two-inertia resonance system in which a motor and a load are connected by an elastic shaft.

[0002]

2. Description of the Related Art In an elevator, a steel rolling mill, a robot arm, or the like, when a motor and a load are coupled to each other by a shaft having low rigidity, a torsional vibration occurs in the shaft, which makes it possible to speed up the response of the speed control system. There is a problem of disappearing. The shaft torsional vibration is affected by the ratio of the moments of inertia of the electric motor and the load, and becomes more oscillatory, especially when the moment of inertia of the load is smaller than that of the electric motor, and vibration suppression control becomes even more difficult. In recent years, the shaft torque is estimated at high speed,
A resonance ratio (ratio between a motor resonance frequency and a robot arm resonance frequency, for example) control means for stabilizing the apparent motor inertia by feeding back the torque command has been proposed. (Reference Document A: Electron Theory, Vol. 113, No. 10, 1993; Vibration Suppression Control of Two-Inertia Resonance System by Resonance Ratio Control) When the resonance ratio control of the above document is used, the load inertia is smaller than the motor inertia. Even in this case, a good vibration suppressing effect can be obtained. However, since the disturbance suppression effect is reduced, a method of adding a load torque observer to improve the disturbance suppression effect has also been proposed. (Reference B: 1993 National Conference of The Institute of Electrical Engineers of Japan, 669; Resonance ratio control and control of two-inertia system by SFC) In addition to the above, a low-inertia control method for one-inertia system is also proposed. (Reference document C: 1991 National Conference of Industrial Application Division of the Institute of Electrical Engineers of Japan, 142; Low inertia control system using induction machine) First, a shaft torsion vibration system (two inertia system) will be described. Regarding the shaft torsional vibration system, there is JP-A-4-319715. Next, based on this publication, the equation of motion of the axial torsional vibration system will be shown. The following equation of motion can be obtained from the two-inertia model shown in FIG.

[0003]

[Equation 1]

Equation (3) can be expressed as follows.

[0005]

[Equation 2]

FIG. 16 is a block diagram of the torsional vibration system using the above equation. Where τ _M is the torque generated by the motor, τ _S is the axial torque, τ _L is the load torque,
ω _M and ω _L are the angular velocities of the motor and the load, θ _M and θ _L are the angular displacements of the motor, T _M and T _L are the mechanical time constants of the motor (rated torque ⇒ rated speed), and T _S is the spring of the shaft. Constant = 1 / Km, R
m is the viscosity coefficient of the shaft.

Next, the transfer function of the shaft torsion vibration system will be described. Transfer function G _MM (S) and G _ML from generated torque τ _M to motor speed (angular speed) ω _M and load speed (angular speed) ω _L in a model ignoring viscosity coefficient Rm (Rm = 0)
Find (S). Transfer function G _MM (S) from τ _M to ω _M
Is obtained, it becomes as shown in equation (5).

[0008]

(Equation 3)

The transfer function G from τ _L to ω _M
LM (S) is as shown in equation (6).

[0010]

[Equation 4]

Next, the transfer function G from τ _M to ω _{L
When ML} (S) is obtained, it becomes as shown in equation (7).

[0012]

(Equation 5)

Furthermore, the transfer function G from τ _L to ω _L
LL (S) is expressed by equation (8).

[0014]

(Equation 6)

Here, the transfer function Kω _n ² / S of the second-order lag system
^When compared with the general expression of ² + 2ζω _n + ω _n ² , the equation (9) is obtained.

[0016]

(Equation 7)

That is, by approximating the viscosity coefficient Rm = 0, ζ = 0, and the system becomes a permanent vibration system. The resonance frequency is ω _n . Denominator of transfer function

[0018]

(Equation 8)

When the pole of is obtained, it becomes as shown in equation (11).

[0020]

[Equation 9]

From the equation (11), the pole exists on the imaginary axis, so that it is an oscillating system.

[0022]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention Reference A mentioned above,
In the resonance ratio control shown in B, it is necessary to increase the gain of the shaft torque observer and estimate the shaft torque τ _S at high speed. However, in consideration of speed detection noise and the like, the observer gain may not be increased, and there is a problem that the vibration suppressing effect is reduced.

The present invention has been made in view of the above circumstances, and even when the gain of the shaft torque observer is small,
It is an object of the present invention to provide a vibration suppression device for a two-inertia resonance system by low inertia control that can improve the vibration suppression effect of a two-inertia resonance system.

[0024]

In order to achieve the above object, the present invention provides a two-inertia resonance system having an axial torque observer, an angular velocity command of a motor, and an angular velocity of the two-inertia resonance system. Of the deviation output of the proportional gain, the output of this speed amplifier is supplied, the disturbance suppression function unit for preventing the disturbance is not sent to the output, the output from this disturbance suppression function unit is supplied, A two-inertia resonance system is provided with a vibration suppression circuit that suppresses vibrations from occurring.

According to a second aspect of the present invention, the vibration suppressing circuit includes a first-order lag filter section, a low-inertia gain section to which an output of the filter section is supplied, an output of the gain section and an input of the first-order lag filter section. And an adder unit for adding.

A third invention is characterized in that the vibration suppressing circuit comprises a first-order lag circuit and a first-order lag circuit.

A fourth aspect of the invention is characterized in that the disturbance suppressing function section is constituted by a load torque observer.

A fifth aspect of the present invention is characterized in that a feedback circuit section which subtracts a load torque estimated value from an axial torque estimated value is interposed between the disturbance suppressing function section and the vibration suppressing circuit.

A sixth aspect of the invention is characterized in that the speed amplifier is a proportional integral element.

A seventh aspect of the invention is characterized in that the disturbance suppressing function section is composed of a circuit including a PI element, a speed feedback and a gain section.

According to an eighth aspect of the present invention, a feedback circuit section obtained by subtracting the load torque estimated value from the shaft torque estimated value is inserted between the circuit including the PI element, the speed feedback and gain section, and the vibration suppression circuit. It is a feature.

A ninth invention is a two-inertia resonance system in which a motor and a load are coupled by an elastic shaft, and a PI speed for amplifying a deviation output between an angular speed command of the motor of the two-inertia resonance system and an angular speed of the two-inertia resonance system. An amplifier, a shaft torque observer provided in the two-inertia-resonance system and having an estimated shaft torque value obtained through a first-order lag filter, a first-order lead-lag filter compensating the first-order lag filter, and a shaft obtained from the first-order lead-lag filter. A gain unit that multiplies the estimated torque value by (inertia ratio-1), a deviation unit that outputs the deviation between the output of this gain unit and the inertia ratio of the torque command value, and the output of this deviation unit are input, and A compensation filter that gives a torque command to an inertial resonance type motor is provided.

A tenth aspect of the present invention is characterized in that the speed amplifier is a PI amplifier or a proportional gain, and a disturbance suppressing function section is inserted in the electric path between the speed amplifier and the deviation section.

The eleventh aspect of the invention is characterized in that the disturbance suppressing function section is constituted by a load torque observer.

A twelfth aspect of the invention is characterized in that a feedback circuit section, which is obtained by subtracting the load torque estimated value from the shaft torque estimated value, is interposed between the disturbance suppression function section and the deviation section.

[0036]

In the first to eighth inventions, the deviation output between the angular velocity of the two-inertia resonance system having the shaft torque observer and the angular velocity command of the motor is amplified by the proportional gain velocity amplifier. The amplified output of the speed amplifier is supplied to the disturbance suppression function section or the load torque observer. At this time, its output becomes a signal for suppressing the influence of disturbance. When the signal output that suppresses the influence of this disturbance is supplied to the vibration suppression circuit,
Since the vibration is suppressed here, the vibration of the two-inertia resonance system is suppressed.

In the ninth aspect of the invention, since the shaft torque observer is provided with the first-order advance / lag filter and the compensating filter for the torque command to the motor, the vibration suppressing effect is obtained, and the vibration of the two-inertia resonance system is suppressed.

In the tenth to twelfth inventions, since the disturbance suppressing function section or the load torque observer is used, the output thereof becomes a signal for suppressing the influence of the disturbance. When the signal output that suppresses the influence of this disturbance is supplied to the compensation filter and the shaft torque observer, the vibration is suppressed here, and thus the vibration of the two-inertia resonance system is suppressed.

[0039]

BEST MODE FOR CARRYING OUT THE INVENTION In explaining one embodiment of the present invention with reference to the drawings, the present invention estimates the shaft torque,
The means for suppressing the shaft torsional vibration is adopted by performing the low inertia control. Therefore, first, the minimum dimensional observer will be described. A block diagram from the torque command τ _M to the motor speed ω _M is as shown in FIG. Here, it is assumed that the axial torque τ _S is a constant step value. Therefore, the shaft torque differential value is considered to be 0. When the state equation is obtained from FIG. 17, it becomes the equation (12).

[0040]

[Equation 10]

The equation (12) can be expressed as the following equations (13) and (14).

[0042]

[Equation 11]

Since the motor speed ω _M can be measured, the shaft torque τ _S is estimated by using the minimum dimension observer. If the axial torque estimation observer is obtained from this minimum dimension observer using the method of Gopinus, the result is as shown in FIG.

Next, the low inertia control and the resonance ratio control will be compared. The outline of the low inertia control shown in Reference C described above will be described. FIG. 19 shows an application example in which low inertia control is required. This FIG. 19 shows a test apparatus for a transmission TM of an automobile, which is a dynamometer DY1.
Controls the engine and the dynamometer DY2 controls the load simulation. Here, because the engine has a small inertia,
The inertia of the dynamometer DY1 is apparently kept small,
It is required to control the engine so that it is suitable for the engine. Therefore, low inertia control has been proposed. FIG. 20 is a block diagram of the low inertia control, and 210 is a first-order lag filter circuit unit ( _TF is a first-order lag time constant) to which the input torque τ _i is supplied and which outputs the estimated input torque ∧τ _i to the output. Then, this input torque estimated value is given to the plus end of the first deviation device 211. A load torque estimated value τ _L from a load torque observer 212, which will be described later, is provided at the negative end of the first deviation device 211.
Is given.

Reference numeral 213 is a moment of inertia calculator, and the calculator 213 is provided with the deviation output of the first deviation device 211. The output of the inertia moment calculation unit 213 is added to the input torque by the adder 214, and the motor generated torque τ _M is obtained at the output. This motor-generated torque is applied to the second deviation device 215.
Of the load torque observer 212 and the positive end of the third deviation device 212a of the load torque observer 212. The load torque τ _L is applied to the negative end of the second deviation device 215, and the deviation output of the second deviation device 215 is the dynamometer DY shown in FIG.
1 and DY2 are input to the integral element unit 216 of the total sum of inertia moments T _ML when 1 inertia system is used. The output of the integration element 216 of T _ML gives the angular velocity ω _M of the motor. The load torque observer 212 has an integral element part 212b of the inertia moment T _ML * of the observer to which the deviation output of the third deviation device 212a is input, and a motor angular velocity estimated value ∧ω _M 'obtained at the output of the integration element part 212b. It is composed of a fourth deviation unit 212c that takes a deviation from the motor angular velocity ω _M, and an observer gain unit 212d to which the deviation output of the fourth deviation unit 212c is supplied. Load torque observer 2
A load torque estimated value is obtained at the output of 12, and this estimated value is supplied to the third deviation device 212a and the first deviation device 211. In FIG. 20, T of the moment of inertia calculation unit 213
_m * is the moment of inertia when the inertia is reduced.

The following equations (15) to (17) are obtained from FIG.

[0047]

(Equation 12)

Assuming that T _ML = T _ML *, (1
The following equation (18) is obtained from equations (5) to (17).

[0049]

(Equation 13)

In other words, the value obtained by estimating the load torque with the first-order delay becomes the load torque estimated value ∧τ _L. Here, the principle of the low inertia control of FIG. 20 will be described. When FIG. 20 is modified, FIG. 21 is obtained. Assuming that the load torque estimation and the input torque estimation are very fast in FIG. 21, the motor acceleration / deceleration torque τ _AC is expressed by the following equation.

[0051]

[Equation 14]

Assuming that T _ML = T _ML * in the above equation (19), the relationship from this torque τ _AC to the motor angular velocity ω _M is the following equation (20), and the inertia of the motor is apparently T _m * Becomes

[0053]

(Equation 15)

From the above, if the speed of load torque estimation can be increased, the low inertia control can be performed according to FIG.

Next, the resonance ratio control shown in References A and B will be described. FIG. 22 is a block diagram of the two-inertia system when R _m = 0 is approximated in FIG. 22, the reference numerals are the same as those in FIG. Here, the axial torque observer of FIG. 18 is configured using the motor generated torque τ _M and the angular velocity ω _M of the motor, and the estimated axial torque value ∧τ _S is multiplied by (1-K) to perform feedforward compensation. The configuration diagram at that time is shown in FIG. As the shaft torque estimate in FIG. 23 can be estimated at high speed, so that the shaft torque estimated value ∧Tau _S assumed ≒ tau _S and 24. FIG.
FIG. 25 is obtained by deriving the block diagram of the resonance ratio control shown in Reference B by modifying the above. From FIG. 25, when the resonance ratio control is performed, the motor inertia is apparently (1 / K).
Further, in the compensation circuit of FIG. 24, (1 / K) appears after τ _i ′, so it is necessary to multiply the torque command by K times. Here, the relationship between the resonance ratios R and K is obtained from the references A and B as the following equation.

K = T _M (R ² −1) / _{TL L} (21) R: From Reference A, R ² = 5 is the optimum value for vibration suppression From the above-described low inertia control and resonance ratio control When the following replacement is performed, the inertia reduction control becomes exactly the same as the resonance ratio control. That is, by performing the following substitutions (1) to (3), it becomes equivalent to the block diagram of Reference B before SFC insertion.
(1) Although the low inertia control shown in FIG. 20 is treated as a single inertia system, the dynamometer DY1 and the dynamometer D are used.
Divided into Y2 and handled as a two-inertia system. (Handle as T _ML → T _M ) and (2) T _ML * → T _M * shown in FIG. (3) _Let T _ML * / T _m = K shown in FIG.

FIG. 1 is a block diagram showing a first embodiment of the present invention. In FIG. 1, reference numeral 11 is a first deviation device for taking a deviation between a motor angular velocity command ω _M * and a motor angular velocity ω _M. The deviation output of the first deviation device 11 is input to the speed amplifier (Kωc) 12 that is configured by PI control or P control. The output of the speed amplifier 12 is supplied to a disturbance suppression function unit (hereinafter referred to as SFC unit) 13. This SFC unit 1
3 is the integral element part 1 of the observer's moment of inertia T _ML *
3a, a second deviation device 13b that takes a deviation between the output of the integration element portion 13a and the angular velocity of the motor, and the deviation output of the second deviation device 13b is added to the output of the speed amplifier 12 via the gain portion 13c. And an adder 13d for

Output of SFC unit 13, that is, adder 13
The output of d is input as the input torque τ _i to the adder 14 and the first-order lag filter unit 15 serving as a vibration suppression circuit. The output of the first-order lag filter unit 15 is given to the plus end of the third deviation device 16, and the shaft torque estimated value ∧τ _S from the shaft torque observer 17 is given to the minus end. The output of the third deviator 16 is supplied to the adder 14 via the low inertia gain unit 18, and the input torque and the output of the gain unit 18 are added by the adder 14 to output the motor torque τ _M. obtain. This motor torque is input to the two-inertia system circuit unit 19 as shown in FIG. 22, and the shaft torque observer 1
7 is supplied. The shaft torque observer 17 includes an integral element portion 17b of the moment of inertia T _ML * of the observer to which the deviation output of the fourth deviation device 17a is input, and this integral element portion 17
The fifth deviation device 17c that takes the deviation between the estimated motor angular speed ∧ω _M 'and the motor angular speed ω _M obtained at the output of b, and the observer gain unit (Kes) to which the deviation output of the fifth deviation device 17c is supplied. And 17d.

In FIG. 1, T _ML * is T _M + T _L , and T _M
* Is set to T _M. Ke is the gain of SFC, T _F is the time constant of the first-order lag filter unit, Kes is the gain of the shaft torque observer, and K is the gain of low inertia.

Next, the operation of the above embodiment will be described. The deviation between the motor angular velocity command ω _M * and the motor angular velocity ω _M is the first
It is detected by the deviation device 11. This deviation output is the speed amplifier 1
2 is input to the SFC unit 13, where the disturbance is suppressed and the input torque τ _i is obtained at the output. When this input torque is input to the first-order lag filter unit 15, this 1
The output affected by the time constant T _F of the next-delay filter unit 15 is transmitted. This output and the output of the shaft torque observer 17 are given to the third deviation device 16, and the deviation output is sent out. At this time, even when the gain of the shaft torque observer 17 is small, the deviation output is added to the input torque via the low inertia gain unit 18 to obtain the motor-generated torque τ _M. Since this generated torque is supplied to the two-inertia system circuit section 19 and the shaft torque observer 17, the vibration suppressing effect can be improved even in the two-inertia system.

FIG. 2 shows a second embodiment of the present invention. In the second embodiment, the SFC section 13 of the first embodiment is modified so that a PI element is replaced with a speed feedback and gain section. 21. The operation of the second embodiment is similar to that of the first embodiment, but since the PI element appears in this embodiment, the speed amplifier 12 may be composed of only the proportional gain Kωc.

In the embodiment of FIG. 2, the modifications after the input torque τ _i are as shown in FIGS. 3A and 3B, and the block diagram after the output τ _A of the speed amplifier 12 is as shown in FIG.
In FIG. 4, H (S) is given by the following equation.

[0063]

[Equation 16]

Here, if T _F = 0, a combination of resonance ratio control and SFC is obtained. At this time, H
(S) and G1 (S) are given by the following equations.

[0065]

[Equation 17]

If T _F = T _M * / Kes, a combination of low inertia control and SFC is obtained, and H (S) and G1 (S) at this time are given by the following equations.

[0067]

(Equation 18)

Comparing the equations (22) to (26),
By setting T _F ≠ 0 and T _F ≠ T _M * / Kes in the low inertia control, the numerator of H (S) becomes secondary. As a result, the order of differentiation is increased, and the torsional vibration suppression effect can be improved.

FIG. 5 shows a third embodiment of the present invention. In the third embodiment, a load torque observer 22 is provided instead of the SFC section 13 of the first embodiment.

FIG. 6 shows a fourth embodiment of the present invention. In the fourth embodiment, the output of the SFC section 13 of the first embodiment is a feedback circuit section obtained by subtracting the load torque estimated value from the shaft torque estimated value. 23 is provided. In FIG. 6, K _T is a feedback gain obtained by subtracting the load torque estimated value from the shaft torque estimated value.

FIG. 7 shows a fifth embodiment of the present invention. In the fifth embodiment, a first-order lag filter section 24 is provided for the input torque of the output of the SFC section 13 of the first embodiment. . Reference numeral 25 is a sixth deviation device that takes the deviation between the output of the filter unit 24 and the output of the shaft torque observer 17 via the (K-1) gain unit.

FIG. 8 shows a sixth embodiment of the present invention. This sixth embodiment is a modification of the fifth embodiment and is provided with a circuit section 26 including a first-order lag and a first-order lead circuit. It is a thing. In each of the above-described embodiments, the same operational effect as the vibration suppression effect as in the first embodiment can be obtained.

FIGS. 9A and B to FIGS. 14A and 14B show the results of simulation of the conventional example and the example. The simulation conditions are T _M = O.4S, T _L = 0.1S, T _S.
= 0.003S. A step response when ω _M * = 0.02 was input at 0 second and a disturbance response when load torque τ _L = 0.1 was applied at 0.5 second were simulated. 9A and 9B are simulation results when control is performed only by the speed amplifier (PI element) without the vibration suppression circuit. The condition at this time is that the speed amplifier gain Kωc
= (T _M + T _L ) × ωc = 0.5S × 30 = 15, and the time constant Tωc _TI = (1 / ωc) × 5 = 0.167S. In the case of this conventional example, vibration is not suppressed.

FIGS. 10A and 10B show the simulation results when the speed amplifier has only the proportional gain and only the SFC section is added as the vibration suppressing circuit. The conditions at this time are: speed amplifier gain Kωc = 15, SFC gain Ke = 3,
The SFC time constant T _ML * = 0.5S. Even with this SFC alone, there is no vibration suppressing effect.

FIGS. 11A and 11B to FIGS. 14A and 14B are simulation results in the above embodiment, and FIGS. 11A and 11B show that there is no first-order lag filter unit for the input torque τ _i in FIG. This is data when set to 1. The condition at this time is that the speed response is ωc = 30ra.
Set to d / S, speed amplifier only proportional gain, Ke =
4, T _ML * = 0.125 S, Kes = 200, T _M * =
0.4S, K = 16. In the case of this embodiment, the vibration suppressing effect becomes large.

12A and 12B show Kes under the above conditions.
This is data when set to a small value of 25. In this case, since the gain of the shaft torque observer is small, the vibration suppressing effect is small and some vibration occurs.

FIGS. 13A and 13B show simulation results in the first embodiment. In this case, even when the shaft torque observer gain is set to Kes = 25, the vibration suppression effect is good because of the first-order lag filter time constant T _F. The conditions at this time are T _F = 8 ms and Kes = 25.
Others are the same as the case of FIG.

FIGS. 14A and 14B are simulation results in the fourth embodiment. The fourth embodiment is provided with a feedback circuit section that subtracts the load torque estimated value from the shaft torque estimated value, and the vibration suppressing effect is further improved as compared with the case of FIG. The conditions at this time are K _T = 0.5, T _F = 8 ms, and Kes = 25, and the other conditions are the same as in the case of FIG.

From the above simulation results, when the shaft torque gain Kes cannot be increased, a vibration suppressing effect can be obtained by inserting a first-order lag filter into the input torque τ _{i as} in the first embodiment, and the fourth embodiment. With such a configuration, the vibration suppressing effect is further improved.

FIG. 26 is a block diagram showing a seventh embodiment of the present invention. The same parts as those in FIG. 1 are designated by the same reference numerals. Three
Reference numeral 1 denotes a gain unit to which the torque current τ _i is input. The output of the gain unit 31 is supplied to the plus end of the deviation unit 32, and the output of the low inertia gain unit 18 is supplied to the minus end thereof. The deviation output of the deviation unit 32 is input to the compensation filter 33, and a torque command to the motor is sent to the output. The compensating filter 33 is a filter for the torque command τ _M to the motor, and is configured to pass the resonance frequency from the viewpoint of suppressing vibration. Reference numeral 34 is a shaft torque observer having a first-order lag filter for obtaining an estimated torque value at the output, and this observer 34 is a differential element part 34 of the mechanical time constant of the motor.
a, the derivative element part 3 of the torque command and the mechanical time constant of the motor
The deviation part 34b for taking the deviation of the output of 4a and the deviation part 3b
It is composed of a first-order lag filter 34c to which the deviation output of 4b is supplied.

The first-order lag filter 34c of the shaft torque observer 34 is for removing disturbance during speed detection, and therefore the observer time constant T cannot generally be made small. However, if the time constant T is large, the resonance frequency is also cut and the vibration cannot be suppressed. Therefore, the first-order lag filter time constant T _F of the first-order lag filter 34c should be T _F ≈T. This makes it possible to cancel the influence of the observer time constant T. However, if T _F ≈T, the characteristics of the compensation filter 33 are deteriorated. Therefore, if the cutoff frequencies of the compensation filter 33 and the first-order lag filter 34c are made equal, optimum characteristics are obtained and the vibration suppressing effect can be enhanced. Thus, in this seventh embodiment, the compensation filter 33
By providing the first-order lag filter 34c, the vibration suppressing effect can be enhanced.

FIG. 27 is a block diagram showing an eighth embodiment of the present invention. This eighth embodiment is a speed amplifier 1 of the seventh embodiment.
The SFC unit 13 is provided between the gain control unit 2 and the gain unit 31, and the effect of the eighth embodiment is similar to that of the first embodiment.

FIG. 28 is a block diagram showing a ninth embodiment of the present invention. This ninth embodiment is the seventh embodiment provided with a load torque observer 22. The effect of the ninth embodiment is also the third. The same as the embodiment.

FIG. 29 is a block diagram showing a tenth embodiment of the present invention. This tenth embodiment is a feedback circuit in which the output of the SFC section 13 is subtracted from the estimated shaft torque by the estimated load torque in the seventh embodiment. Since the portion 23 is provided, the effect of the tenth embodiment is similar to that of the fourth embodiment.

FIG. 30 is a block diagram showing an eleventh embodiment of the present invention. In the eleventh embodiment, an integrating unit 35 is provided between the speed amplifier 12 and the gain unit 31 of the seventh embodiment so that the speed amplifier is provided. When only 12, the P control is performed, but the integration unit 3
By providing No. 5, PI control can be performed, and the effect of this 11th embodiment is the same as that of the 7th embodiment.

[0086]

As described above, according to the present invention,
Even when the gain of the shaft torque observer is small, it is possible to improve the vibration suppression effect of the two-inertia resonance system, and by providing a feedback circuit section that subtracts the load torque estimated value from the shaft torque estimated value, further vibration There is an advantage that a suppressing effect can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a block diagram of a disturbance suppression function unit showing a second embodiment.

3A and 3B are block diagrams showing a modified circuit after the input torque in the second embodiment.

FIG. 4 is a block diagram after the output of the speed amplifier in the second embodiment.

FIG. 5 is a block diagram showing a third embodiment.

FIG. 6 is a block diagram showing a fourth embodiment.

FIG. 7 is a block diagram showing a fifth embodiment.

FIG. 8 is a block diagram showing a sixth embodiment.

9A and 9B are characteristic diagrams showing simulation results of a conventional example.

10A and 10B are characteristic diagrams showing simulation results of a conventional example.

11A and 11B are characteristic diagrams showing simulation results of the first embodiment.

12A and 12B are characteristic diagrams showing simulation results when the gain is changed in the first embodiment.

13A and 13B are characteristic diagrams showing simulation results showing that the vibration suppression effect is improved by the filter time constant in the first embodiment.

14A and 14B are characteristic diagrams showing simulation results of the fourth embodiment.

FIG. 15 is an explanatory diagram showing a two-inertia system model.

FIG. 16 is a block diagram of a two-inertia system.

FIG. 17 is a model diagram of a motor unit.

FIG. 18 is a block diagram of an axial torque estimation observer.

FIG. 19 is a schematic configuration explanatory diagram of a power train tester.

FIG. 20 is a block diagram of low inertia system control.

FIG. 21 is a block diagram showing a modification of FIG. 20.

FIG. 22 is a block diagram of a two-inertia system.

FIG. 23 is a block diagram when feedforward compensation is performed in FIG. 22.

FIG. 24 is a block diagram showing the effect of resonance ratio control.

FIG. 25 is a block diagram showing the effect of resonance ratio control.

FIG. 26 is a block diagram showing a seventh embodiment.

FIG. 27 is a block diagram showing an eighth embodiment.

FIG. 28 is a block diagram showing a ninth embodiment.

FIG. 29 is a block diagram showing a tenth embodiment.

FIG. 30 is a block diagram showing an eleventh embodiment.

[Explanation of symbols]

 11 ... 1st deviation machine 12 ... Velocity amplifier 13 ... Disturbance suppression function section 14 ... Adder 15 ... 1st-order lag filter section which becomes a vibration suppression circuit 16 ... 3rd deviation machine 17 ... Shaft torque observer 18 ... Low inertia gain section Reference numeral 19 ... 2 Inertia system circuit section 22 ... Load torque observer 23 ... Feedback circuit section 33 ... Compensation filter 34 ... Shaft torque observer 34c having first-order lag filter 34c ... First-order lag filter

Claims (12)

[Claims] 1. A two-inertia resonance system having an axial torque observer, a speed amplifier having a proportional gain for amplifying a deviation output between an angular speed command of a motor and an angular speed of the two-inertia resonance system, and an output of this speed amplifier is supplied, A low-displacement functional unit that prevents a disturbance from being output, and a vibration suppression circuit that is supplied with the output from the disturbance suppression functional unit and that suppresses vibration in the two-inertia resonance system. A vibration suppression device for a two-inertia resonance system by inertia control. 2. The vibration suppressing circuit adds a first-order lag filter section, a low inertia gain section to which an output of the filter section is supplied, an output of the gain section and an input of the first-order lag filter section. The vibration suppressing device for a two-inertia resonance system according to claim 1, wherein the vibration suppressing device comprises an adding section. 3. The vibration suppressing device for a two-inertia resonance system by low inertia control as claimed in claim 1, wherein the vibration suppressing circuit comprises a first-order lag circuit and a first-order lead circuit. 4. The vibration suppressing device for a two-inertia resonance system by low inertia control according to claim 1, wherein the disturbance suppressing function section is composed of a load torque observer. 5. A feedback circuit unit that subtracts a load torque estimated value from an axial torque estimated value is inserted between the disturbance suppression function unit and the vibration suppression circuit. A vibration suppressor for a two-inertia resonance system by low inertia control. 6. The vibration suppressing device for a two-inertia resonance system by low inertia control according to claim 1, wherein the speed amplifier is a proportional integral element. 7. The vibration suppression device for a two-inertia resonance system by low inertia control according to claim 1, wherein the disturbance suppression function unit is composed of a circuit including a PI element, a speed feedback and a gain unit. . 8. A feedback circuit unit that subtracts a load torque estimated value from an axial torque estimated value is inserted between the circuit including the PI element, the speed feedback and gain unit, and the vibration suppression circuit. A vibration suppressor for a two-inertia resonance system according to the low inertia control according to claim 7. 9. A two-inertia resonance system in which a motor and a load are coupled by an elastic shaft, and a PI speed amplifier for amplifying a deviation output between an angular speed command of the motor of the two-inertia resonance system and an angular speed of the two-inertia resonance system. A shaft torque observer which is provided in the two-inertia resonance system and whose shaft torque estimated value is obtained through a first-order lag filter, a first-order lead-lag filter which compensates the first-order lag filter, and a shaft torque estimated value which is obtained from this first-order lead-lag filter (Inertia ratio-1) times, a deviation part that outputs a deviation between the output of this gain part and the inertia ratio of the torque command value, and the output of this deviation part are input,
A vibration suppression device for a two-inertia resonance system by low inertia control, comprising a compensation filter for giving a torque command to an inertial resonance system motor. 10. The low inertia control according to claim 9, wherein the speed amplifier is a PI amplifier or a proportional gain, and a disturbance suppression function section is inserted in an electric path between the speed amplifier and the deviation section. Vibration suppression device for inertial resonance system. 11. The disturbance suppressing function section is constituted by a load torque observer.
A vibration suppressing device for a two-inertia resonance system by the low inertia control described. 12. A feedback circuit unit that subtracts a load torque estimated value from an axial torque estimated value is interposed between the disturbance suppression function unit and the deviation unit, and the low-order circuit according to claim 9, A vibration suppression device for a two-inertia resonance system by inertia control.