TW200906705A - Vibration-suppressing positioning control method and apparatus - Google Patents

Abstract

Provided are vibration-suppressing positioning control method and apparatus capable of suppressing vibration of moving objects having vibration and elastic deformation occurring during acceleration and deceleration. Vibration of a moving object is modeled as a one-degree-of-freedom spring-and-mass-point system, the natural period T of the model is calculated, an acceleration pattern in acceleration/deceleration is set as a trapezoidal pattern containing accelerations and decelerations with constant jerk, and each of the constant jerk period is set as an integral multiple of the natural period.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration damping positioning control method and apparatus for suppressing vibration of a moving body that generates vibration or elastic deformation during acceleration (deceleration) for correct positioning. [Prior Art] A moving body having a structure that is susceptible to vibration or elastic deformation during acceleration (deceleration), such as a crane or a robot arm, vibrates back and forth during movement, and elastically deforms. It is difficult to make a correct positioning. Therefore, in the case of the positioning means that controls the vibration of the moving body as described above and the open circuit is controlled and the vibration is suppressed, various means for matching the speed pattern of the natural period have been proposed from the past. (For example, Non-Patent Document 1 and Patent Documents i to 6). Non-Patent Document 1 is the first to advocate the Input Shaping Method with a two-stage acceleration method. In this method, there is no wind or other disturbance or attenuation. As long as the vibration characteristics during acceleration or deceleration are not profitable, the difference between the initial acceleration (deceleration) and the second acceleration (deceleration) is inherent. At 1 / 2 of the cycle, the vibration will be offset. = ie 'If the acceleration is accelerated by a rectangular acceleration of 1/2 of the natural period (minus u)', the first stage of acceleration (deceleration) and the second stage of acceleration (deceleration) are connected to the second (fourth) (four) When the linear speed (deceleration) is performed, the residual vibration when the acceleration (deceleration) is completed is 〇. Add m: The two-stage addition is applied to the vibration control of the heavy machine. For example, in the case of Brother 1A, Figure 7 (Fig. 1C), the model of the quick-moving 320135 5 200906705, and the vibration, the vibration generated by the acceleration or deceleration is accelerated or decelerated by adjusting the time point. Vibration offset. - Patent Document 2 is a method in which a two-stage confusing method is applied to a robot arm. Patent Document 3 changes the acceleration from a rectangle to a trapezoid, and specifically, the time from the acceleration to the acceleration is set to an integral multiple of the natural period. Patent Document 4 is a method for displaying a specific acceleration mode in the presence of the above-described means, but it is an integer multiple of the natural period (the concept of the overlapping acceleration mode is not different. Patent Document 5 is for reducing the robot. The vibration is adjusted so that the acceleration/deceleration time becomes an integral multiple of 1 / 2 of the natural period of the vibration system, and only the change in the gain of the servo system is adjusted during acceleration/deceleration. Patent Document 6 is a machine-to-the-hand manipulator (r〇 In the positioning control of b〇t manipulator, a rectangular waveform signal having an integer multiple of the period of the natural period is output as a speed commander. [Non-Patent Document 1] NCSinger, WP Seering, "Preshaping %,

[Patent Document 1] Japanese Patent Application Laid-Open No. Hei. No. Hei. No. 5-85698. Japanese Laid-Open Patent Publication No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. 7-328965. [Patent Document 4] 曰 特 特 〇〇 〇〇 〇〇 _ _ . . . . 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位 定位7〇& report robot vibration [Patent Document 6] Japanese Patent No. 32嶋9 Public Law” & Vibration Control Position Control Party describes the following problems in the past: · = = (2) There is a problem that the vibration is generated by the acceleration and the vibration is generated. Therefore, there is a problem that the stress variation is relatively large, and there is a problem that the addition and the deceleration time are combined. But want to save

SUMMARY OF THE INVENTION The present invention has been developed for the purpose of understanding the first and the object of the invention. That is to say, the method and device for vibrating the production of the vibration-damping method are more static vibrations, so::: can be produced == .I should make the acceleration time or deceleration time match the natural period:: meaning: Further, a second object of the present invention, a method and apparatus, which change the position of the sling or the position of the machine ^//^ due to the solid or η type vibration damping positioning control, the crane impulse (4); When the speed is increased (subtracted), the period (integer multiple) is fully consistent to achieve the first (four), and the inherent 320135 7 200906705. In addition, the third object, method and apparatus of the present invention, even if it is impossible to advance: system. The first purpose can be achieved when the same position is inherently cycled over time or the like. In the case of idle time, according to the present invention, it is also possible to provide a vibration damping positioning control method for generating a stop line during acceleration and deceleration, which causes the vibration of a moving body that is moving or dancing to enter the mode. The vibration of the moving body is obtained by a spring-to-mass system of one degree of freedom, and the natural period of the model is obtained; and a trapezoidal mode in which i is increased and decelerated during acceleration and deceleration, and; Integer multiple. According to a preferred embodiment of the present invention, the acceleration mode is accompanied by ^ = ^ to increase the acceleration with a fixed rush, and then the acceleration r is reduced. The acceleration is reduced to the enthalpy until the enthalpy; the speed remains constant; and the constant velocity mode, the empire accelerates the acceleration with a fixed rush, and then increases and then increases the acceleration to a fixed rush. The fascination remains Q. Cutting between the acceleration mode and the deceleration mode and adding 2 waves or 3 = is better to shift the acceleration mode by 1/2 cycle and overlap 320135 8 200906705, and the natural period varies depending on the position of the mass point. In the case, depending on the position of the mass point, the natural cycle at the start of acceleration, the start of acceleration, the start of deceleration, and the end of deceleration are respectively derived, and when the acceleration is started and the speed is increased, A -, ,, At the start of deceleration, and each of the reductions, and the % of the solids are set to an integral multiple of the period. The solidity of each of the V-outs is preferably the residual vibration at the end of the multiple-measurement deceleration under the same conditions, and the mean value of the plurality of residual vibrations is calculated and calculated as the average value of the residual vibration. The correction value of the natural period is increased or decreased for the predetermined threshold value so that the residual vibration is reduced. Further, according to the present invention, the detachable supply system suppresses the occurrence of the positioning control device during acceleration and deceleration, and the locator is moved to move the vibration of the moving body to the mountain. Modeling; vibration is a spring-mass point system with 1 degree of freedom to determine the natural period of the model; and the acceleration mode for acceleration and deceleration is set to increase and decrease the trapezoidal mode, the integer of the period of the impulse Times. Each of the rushing time is set to have a certain slope to make the acceleration change when the acceleration changes. In the case of an integral multiple of the period 320 320 9 200906705, the vibration system only has vibration due to acceleration (static Tragedy). Hereinafter, the time differential of the acceleration is simply referred to as "the invention is based on the new discoverer. That is, the method and the f system of the present invention use the characteristic to set the acceleration mode during acceleration and deceleration to be fixed~ The rushing step type 'and each fixed rush time is an integral multiple of the natural period. Therefore, the residual vibration at the constant acceleration, the constant speed, and the stop can be theoretically reduced as described later. 0. Moreover, the magnitude of the bending (amplitude) generated by the method of the present invention and the action of the I-position is that the stress caused by the acceleration due to the acceleration is minimized in the machine. The mode can be easily set, so there is no need to maintain the above margin in the strength design. In addition, since even if the time for arbitrarily setting the acceleration is different in the vibration damping effect 6, the speed mode 0 can be easily suppressed in the case where the maximum speed is made variable, even if the natural period changes with the position of the mass point. In the second case of change, ', according to the position of the mass point, each derives the natural cycle at the start of acceleration, the start of acceleration at the end of the speed gate, and the end of deceleration, and at the end of acceleration, at the start of deceleration, and at the end of deceleration The time is fixed...,",, before

And work, each fixed rush time is set to each of the inherent period integers of the aforementioned spoon. A cycle (material "(4) 仏 # this 111 疋 冲 时间 与 与 ) _ _ _ _ _ 转 转 转 转 转 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 320 Measure and read the drink, and the average value of the residual vibration. When the residual vibration is equal to or greater than the limit value, increase the positive value by reducing the residual vibration. In the following, the re-adjustment of the diachronic change can be given. [Embodiment] Hereinafter, the common part of the present invention will be described with reference to the accompanying drawings. Further, each figure is a description of the repetition of the singularity and the repetition of the singularity. The r=: and the 2Bth drawing are the pull-type diagrams of the moving body which are vibrated or elastically deformed during acceleration and deceleration. In the present invention: The mass m shale model (Fig. 2A) is fixed at the spear shed 1 ^ through the elastic arm 2 of the length L and is rotated by the rotating spring of the movable car 3 (Fig. 2B). ::,k is The spring constant, Θ is the angle, M is the driving force, and g is the gravitational acceleration. Moreover, when the movement is straight, the goods are measured. The dynamic discharge of this model is controlled. It can be expressed by the formula (2). The formula (1) of the formula indicates that the potential energy u is in the G system Γ(1) and (2), and the Lagrangian (four) Equations (3) and (4) are expressed. In this case, the 1 series is extremely small, so it is considered that the coffee is 6>=1,_0;=6|. T,#'^ 320135 11 200906705 y ^^Mx2 +~mlx~L0cosef +(x^sin5»)2} Mx2 + —w(i2 ~2Lx0cos0+L2S2J (1) 2 丄2 V = mgL cos&+-kL2&2 (2)

Dfdy) dV dU (3) d 'dV)

dV QU ml

'kL mg (5) Event::=2 (4) The following equation (6) can be obtained by the control device 1〇 according to the command value action word (4). Here, the right side of the formula (6) is F(i), and the relationship of the angle catching degree #··. a) is changed to the (?) formula. Equation (7) is a non-homogeneous second-order differential equation, and the solution is given by (8) 6 + 〇) 26 = zF(t) &=Csmmt + Dc〇sm + l. /> r) sin4-rVr (8) = (: _ edge return + as from time two for two cars: two: value:: consider the third map; : degree") - the way to accelerate, Guarantee =: (Expression. At this time, when the passing time & acceleration plus reading 1 exceeds the solid rush time tr, 苐12 32〇] (9) 200906705 is expressed by the following formula (9) Θ ωΐ{ί f~Sin ~τ)άτ+\ι sin ω(ί ~ r)^r| ω21 When the rush time tr is an integer multiple of the natural period ( (η is an integer), from the (6a) ωίΓ=ωηΤ = 2η7Γ...(external) In the formula (9), .sinω (b = sin〇t · c〇s〇tr — cos6; t - sm^tr = sina>t · cos2n tt -cos^t · sin2n^ = since; t...(6c) holds. Thus, equation (9) can be expressed by equation (10). θ = 1/(ω 2L)...(i〇 The younger 3B map is a graph comparing the fixed rush time ☆ for the present invention = π = 1 〇), and when there are some differences from the present invention (tr = i2). As can be seen from the figure, in the control object of the vibration element of the right-hand stage t, which is added to the (four) spring element system, when the acceleration is changed by the constant slope (hereinafter referred to as "fixed 疋 (4) When the acceleration change time (solid spurt time) of the surface-base i± to rush degree is an integral multiple of the natural period, the vibration is only the vibration generated by the acceleration (static deflection). ', the present invention uses this feature to make the acceleration, the mold is a fixed sharpness (four) shape mode, · the force velocity plate cycle integer 俨, funeral; from the heart rush time is the inherent neck number of times this is not When the bow is picked up, the equal vibration, the residual sound, and the residual vibration at the stop. The seek speed is also established when the acceleration is changed to 〇 with a negative fixed rush 320135 13 200906705 degrees from the acceleration slamming, so the trapezoidal acceleration is set to be an integral multiple of the natural period. When the mode is accelerated or decelerated, not only when the acceleration is completed but also when the deceleration is completed (stopped), even during acceleration and deceleration (during acceleration operation), residual vibration is not caused. Furthermore, the magnitude of the deflection (amplitude) generated by the operation of the method and apparatus of the present invention is below the static deflection due to acceleration, so that the stress applied to the machine becomes minimum and can be easily calculated. The design aspect also knows that it is not necessary to have the necessary margin. In addition, even if the time of the constant acceleration is arbitrary, there is no difference in the vibration stop effect. Therefore, when the maximum speed is changed, the calculation of the speed mode becomes the fourth picture. The conventional example 'shows that the acceleration mode and the vibration of the working arm when the linear acceleration is linearly 4 times in the model of Fig. 2 differs from the present invention in that only the "acceleration time is the time period". When the integral multiple is "when", the vibration of the working arm changes greatly. The second diagram is an example of the present invention, and is shown in the second model that the time of the inherent cycle is set to a fixed jerk, and then the acceleration is equal to: after the doubling of the natural period, the motion mode is :,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, When the square is accelerating, it can be seen that the maximum acceleration of the 图5 graph is 'two-taken and large. This volume is smaller in the way of Figure 5. The figure is large, but the maximum vibration is 320135 14 200906705 In addition, with respect to the fourth figure, in Fig. 5, only the arm is operated, and the fatigue of the working arm is also reduced. (Wound) [There is an example of the present invention. Fig.: The acceleration mode of the vibration damping positioning control. In the figure, the axis is the elapsed time and the vertical axis is the catch. The working arm shown in Figure p is used to make the vibration system, and the drive system is designed with ^uu::-]. In the acceleration mode moving to the position of the distance x[m], the natural period of # is again [T[sec], and it is assumed that the natural period of the motion does not change to M U. Further, in the calculation example described later, it is a design condition that the solid rush time is set to be twice the natural period. The equal acceleration time α in Fig. 6 is obtained from the relationship between the integral of the acceleration mode and the maximum speed, and V·/A — Τ ... is obtained. Further, at the same speed, U can be obtained from the relationship between the second reading of the acceleration mode and the moving distance by (X _ Xad) / V... (12). Here, Xad is the moving distance required for acceleration and deceleration. In this calculation example, (1/6 AT2) + 1/2 AT + 1/2 Α α 2+5 / 6 At2+ at ^ ) χ 2 = (AT2+ 3/2ATa+l/2A〇x2=(l/2VT+l/2V2/A)x2 ... Equation (13) is obtained. Fig. 7 is a flow chart showing the calculation method of the acceleration mode. When the moving distance Xad required for the acceleration (deceleration) of the maximum speed v in design is larger than the target moving distance (when § 4 is "No"), the maximum speed v is lowered at S5. If the acceleration time α is not full due to the reduction of the maximum speed of 15 320135 200906705, then the maximum acceleration is reduced in S7. When the US6 is "No"), again, in the flowchart of Fig. 7, "reset" (S7) It is also possible to obtain the value of the prefecture by analytically determining the value of the sigma velocities = G, the constant velocity time = 〇, etc. The value, but also from Table 2) == time, constant velocity time, the solution is 咕/(2Τ)..·(14). The acceleration time α and the moving distance are set to the intrinsic time. Week "spoon out" is wrong Figure 8 represents a system 2 of the present invention uniquely be decided. Cheng. Operation flow of the vibration damping positioning control device In the figure, first, at the target position, and now (4) _ ', the information such as the operator or the sensor is input, and the presence or absence of the movement % of the delivery object is calculated. In S12, the condition is calculated by the cycle equal force in S13. mode. According to the calculation system of the present invention, the acceleration is calculated according to the present invention. In the case of the inverter motor, the inverter motor is controlled by the degree command in S14. The tracking is performed - and the value of the acceleration is numerically integrated in the time interval of the control cycle. The value of the acceleration is numerically integrated only in the control cycle and output to the driving device in each control cycle. Turning out, when the speed = the planned action time of the process is controlled, and the action is completed on the 0th day (S17). However, since 320135 16 200906705 is the same, the actual operation is performed at a small speed. The operation and speed command of the drive unit are not complete, and the movement distance x is provided with a margin and the final positioning is processed. In the case of the action, the length of the sling of the crane is known in advance. When the cycle of the two cycles is changed, the acceleration mode can also be changed from the "cycle during acceleration and deceleration. Specific examples at this time will be described later. Fig. 22 is a second embodiment of the acceleration mode of the present invention, and the ninth Β ° ° 第 Α 。 为 为 为 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 'As shown in the figure', by shifting the acceleration mode by 1/2 cycle and overlapping: wave or more than 3 waves, it can improve the stability of the natural period variation (10)_ | ° to 4 waves, then the acceleration time and It is also possible to use a trapezoidal acceleration mode with a weight of 4 as shown in Fig. 4 for the selection of the stability and the adjacency of the machine. As described above, the method and apparatus of the present invention utilizes the new characteristic of the rotating spring pendulum mold to make the acceleration mode at the time of acceleration (deceleration) a trapezoidal pattern of a fixed rush, and to make each rush time become The doubling of the natural period can be used to theoretically reduce the residual vibration at constant acceleration, constant velocity, and stop. Further, since the size of the deflection (vibration field) produced by the operation of the method and apparatus of the present invention is equal to or less than the static deflection caused by the acceleration, the stress applied to the machine can be minimized. ± Again, since the acceleration mode can be easily set, it is not necessary to reserve the margin above the intensity design. 17 320135 200906705 Furthermore, even if the time of the constant acceleration is set to any one, there is no difference in the vibration suppression effect. Therefore, it is easy to set the speed mode when the maximum speed is set to be variable. Fig. 10 is an f 4 embodiment of the same acceleration mode as Fig. 6. This example is an example in which the length of the sling of the crane is changed in advance, and the cycle is changed during the operation. — The acceleration mode and the acceleration mode calculation flow when the working arm shown in Fig. 2 is subjected to vibration damping positioning control are shown below. Further, in this calculation example, the acceleration time is set to the design condition of the natural period. As the drive system designed at the maximum acceleration A[m/S2], the maximum speed v[m/s] and horizontally moved toward the position of the distance X[m], and the length of the working arm at the start of the horizontal movement is L1 The acceleration mode in which the working arm length of the target position is L2 is as shown in Fig. 10. Here, the maximum speed of the vertical movement is Vz [m/S], and the mass of the conveyed object is m [kg]. In Fig. 10, in the case where the natural period changes as the position of the mass point changes, the natural period at the start of the smear, the end of the acceleration, the start of the deceleration, and the end of the deceleration are calculated based on the position of the mass point. The fixed rush time ^2 and ^ at the start of acceleration, the end of acceleration, the start of deceleration, and the end of deceleration are set to integer multiples of the respective natural periods of the above-mentioned outputs. Figure 11 is a flow chart for deriving the acceleration mode of Figure 10. First, set Vz, v, A, x, m, Li, L2 (S21) ° 320135 18 200906705 as the calculation conditions. Secondly, since it can be derived from m and li, the β cycle and the end of the deceleration, (4) The value calculated by the intrinsic model is added to the correction, "#Physical Gan A Dan plus the correction value of the modeled error.乂-人' is calculated by the following procedure: Τ2, Τ3, ai, ^(s3〇). Set Γ2 - ΤΙ, T3 = T4 (S3 1) under the assumption that the length of f in the π-speed and the deceleration is not changed. ^ Under the above conditions, the acceleration time up to the maximum speed V and the stop time from 攸: are calculated, and a and a2 (s32) are tentatively calculated. In the amount of change from L1 to L2 and the maximum speed Vz, the arm lengths L1, L2 at the end of the acceleration and the start of the deceleration are calculated (S33). (2) Since the natural period at the end of acceleration and the natural period at the start of deceleration are obtained from m, L1', and L2', T2 and T3 are calculated for each value (S34). () The acceleration time up to the maximum speed V and the stop time from V are described in the above-described conditions, and α 1 and a 2 are calculated (S35). Secondly, 'calculate the movement distances Xa and Xd (S23) required for acceleration and deceleration. If Xg Xa + Xd, calculate the constant velocity movement time 0 by (X - (Xa + Xd)) / V (S24, S28) . When X < Xa + Xd, the maximum speed V is set again (S24, S25), and the above-mentioned "T2, T3, α1, α2" calculation is performed again (S30). Further, when the calculation results of α1 and α2 are negative, the maximum acceleration 再 is set again, and the above-mentioned calculations of "Τ2, Τ3, "1, α2" are performed again (S26, S27, S30). 19 320135 200906705 . Calculating the movement distances Xa and Xd required for acceleration and deceleration (s. u shows the operation flow of the 4. j control device similar to Fig. 8. The vibration damping of the u example is located in the figure. First, in S41, from the operation target position, the current position, and the transported object: the shoulder input information is used to calculate the inherent value of the mobile dial; etc.; f is the material 2, from the S43, the secret, "there are 4 speed mode calculation conditions. Further, the control device according to the present invention is calculated based on the acceleration mode calculation flow, and the control device according to the present invention. Μ * LV~, 7 % under-frequency motor and other driving devices, =; τ output speed command to control the machine. That is, the acceleration mode is tracked at the time interval of the second number 1: control period, and

1. The value of the value product/knife acceleration is output to the drive unit in each control cycle as A in S46. ', , , and S 7 are only in the acceleration mode calculation flow: = speed command becomes. At the time of the action, the operation is based on the movement distance and the final positioning of the actual position. The position of the 4th embodiment of the position of the fine speed is 34. Even if the natural period is changed due to the change of the position of the mass point, the position of the shoulder point is accelerated and the position of the acceleration point is deduced. Reinforcement has a period of time, and at the beginning of the deceleration, and at the end of the deceleration, as well as the reduction, pro & * 1 start, acceleration end, deceleration start, Τ 3, τ wide, '0, each fixed rush time Individually defined as T1, D2, and the intrinsic period of the intrinsic period are individually set to integer multiples of each of the derived periods, so that the fixed urgency time and the inherent period 320135 20 200906705 can be reduced. Deviate, but can improve the accuracy of the vibration stop. Thus, even if there is a movement, there is a sufficient vibration-stopping effect. In the case of the phase, it is also expected that, in the fourth embodiment described above,

In the calculation, the re-setting of (S30) and V (S25), the second of α, and the result of using W once again, can be cycled. U and rigorously calculate the intrinsic. In addition, when feeding and decelerating, it can be changed again: speed:: the maximum acceleration and the second most deceleration, thereby making the length of the working arm of τ + change, the 13th province The trouble of recalculating. The fifth embodiment of the same acceleration mode due to the Is 9 diagram. The vibration of the frequency change _ will be static only == two: If T1 is solid (four) die-cutting type 2, the acceleration coupling can be changed when the acceleration starts and the acceleration ends. Furthermore, if the nth 冲 is produced, the D2 (10) is shown, and the portion of the T1 portion that is fixed to the center of the fT2 is a two-wave overlap with a fixed rush.疋 command and 际2::::: response characteristics of the dynamic system' and the speed is - the difference between the two types, and the rush can not be compensated for the drive can also set the W line in the acceleration mode calculation block Respond to the special correction parameter 2 ... the inverse communication function block of the dynamic response feature. The ratio is set to m Ή S due to /, and the response period of the drive system is compensated to some extent by the inherent period of the fixed rush, and the delay is accelerated. The method of the drive system response characteristic and the 'speed start, the end of the deceleration--the method of correcting each of the above is effective. 1 H'T4 and Fig. 14 are the same as in Fig. 2, respectively. The second embodiment of the cardiac body model diagram is shown in the figure. As shown in Fig. 14, all strain gauges such as strain gauges = the base of the working arm 2 are provided with speedometers 5, 6, and the outer neighbors are set to 1 and the mobile trolley 3 is set. There is a distance meter 7, 8 and it is a method of inputting each strain, plus two and position into the control device 10. Quantitative =: constituting 'strain, acceleration, and position from each person's sample as a model of Fig. 14 _ holding the spring-mass point system model shown in the original and the younger figure, == Τ is expressed as the number 4 (15), but it is also possible to set (P, q ' for the parameter of the positive pull-type error and to give it to the formula (16).

mL \kL' mg (15) T = 2π. kL- 七q (16) Female 1 In this case, under the same conditions, the residual vibration at the end of the acceleration and the deceleration of ''$ is calculated multiple times, and the above multiple residuals are calculated. When the average value of the vibration is 22 320135 200906705 'the average value of the vibration residual vibration is equal to or greater than the predetermined threshold value, the correction value of the natural period is increased or decreased so that the residual x becomes small. The M diagram is an update flowchart of the number of turns p and q, the 16th diagram is a schematic diagram of the vibration on the update date and the calculation, and the 17th diagram is a setting example of Δρ, "". £1 is the fixed rush time of T1' ε 1 is the ε ε 1 after the vibration converges after the fixed rush time of T1 (3 is ε 1, ε 10 before changing the parameters P and q, and is changed ε 1, before the number q, / Ρ In Fig. 15, 'measure ε 10, ε 10, with the laser range finder 7, 8 (, set ΔΡ, Δ_52), so that P1 and P2 increase each. Howling, running the moving body (S54), measuring with the laser range finder 7, 8 (S55), and repeating the absolute value of the difference between ε i and ^ i, the absolute value of the difference of ~1 反When it is smaller (S56), ε1〇, εΐ〇^εΐ, fish 替换 are replaced (S57), the scanning of the parameters p and q is finished (s58), and the meaning is updated, and the time is Pi and ql (S59). According to this method, p and q' can be updated for the vibration data measured during the normal operation, and the modeling error at the time of design and the deviation between the model and the real machine due to the temporal change can be reduced. Shorten the on-site adjustment time, and Less maintenance trouble on. Further, the correction parameters P and q may be matrix values different depending on the length of the work f and the weight of the cargo. Further, the correction parameters p and q may be periodically changed minutely, and the parameters of ", and the minimum residual vibration are updated as a result. Further, the present invention is not limited to the above-described embodiment, and various modifications can of course be made without departing from the gist of the present invention 320135 23 200906705. "On the premise that the above model can be applied, and two: invention only. 'It can be applied to other moving bodies that have a structure that is easy to vibrate when accelerating or decelerating. Sub-induced elasticity k [Simple description of the drawing] j ΙΑ ® is a model of the two-stage acceleration method, 帛(7), and Figure 1C shows Fig. 2, Fig. 2A and Fig. 2B are model diagrams of the occluded or elastically deformed moving body according to the present invention. The vibration analysis diagram is an acceleration mode according to the present invention, and the The fourth embodiment has the acceleration mode of the conventional example, the vibration of the working arm, and the speed. The fifth embodiment has the acceleration mode of the present invention, the vibration of the guard arm, and the sixth figure of the vibration damping positioning control of the present invention. Acceleration mode Fig. 7 is a flow chart showing the calculation method of the acceleration mode. 1 : The operation flow of the vibration damping positioning control device of the present invention is not shown.

Fig. 3 is a second embodiment of the acceleration mode of the present invention, and Fig. 9B is a third embodiment of the same. Fig. 1 is a fourth embodiment of the same acceleration mode as Fig. 6. The nth diagram is a flow chart for deriving the acceleration mode of Fig. 10. (4) The operation flow of the vibration damping positioning control device of the fourth embodiment which is the same as Fig. 8. 320135 24 200906705 The 13th picture is the same as the 9th figure. Throughout the case. ^ The fifth version of the nickel type Fig. 14 is a flowchart showing the updating of the parameters p and q in the second and fifth terms of the moving body model diagram as in Fig. 2 . Figure 16 is a schematic diagram of the vibration measured at the time of the update. Fig. 17 is a diagram showing an example of setting Δ p and Δ q. [Main component symbol description] Cargo 2 Elastic arm 3 Mobile trolley 4 Strain gauge 5 Accelerometer Accelerometer 8 10 Laser range finder Laser range finder Control device k 320135 25

Claims (1)

200906705 X. Patent application scope: The motion method = : = system method is to suppress the vibration of the moving body when the acceleration and deceleration occur, and the vibration of the moving body is 1 point of the spring of the 1 degree of freedom. The system obtains the natural period of the front 逑 model; and the acceleration mode during acceleration and deceleration is set to the trapezoidal mode with the jerk fixed fixed Μ ', and each fixed rush time is set to an integral multiple of the natural period of the gas. . Ding sighs the range of the first (four) position control method, wherein the aforementioned acceleration mode has ·· eight speeds two: two degrees:: the increase of the rush degree 'then the acceleration and deceleration mode, so == two , °; 〇, · and 纟 then increase the acceleration to a fixed speed to the i constant speed mode 'located at the aforementioned jerk. Between Μ and 迷 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉 拉In addition, the mode is shifted by 1/2 cycle and overlaps 2 waves or 3 I. The vibration damping positioning control method of the first item is controlled by the position of the particle point; when the change occurs, the acceleration starts and accelerates. At the end of 320135 26 200906705, at the start of deceleration, and the natural cycle at the end of deceleration, the fixed rush time at the start of acceleration, at the end of acceleration, at the start of deceleration, and at the end of deceleration are set as the above-mentioned An integer multiple of the natural period of the person. 5. In the vibration damping positioning control method of the first application of the patent scope, in the condition 1, the residual vibration at the end of the multiple measurement acceleration and the time of the reduction, ~j calculates the average value of the plurality of residual vibrations, Shi Tianyue 'The average value of the residual vibration is a predetermined margin or more' to increase or decrease the residual vibration. 6. A vibration damping positioning control correction value. The cutting is performed by suppressing the vibration of the vibration and the vibration during acceleration and deceleration, and the vibration of the moving body is modeled. The natural period of the model is obtained by the spring-mass system of one degree of freedom. And the speed-increasing two-speed mode is set to an integer multiple of the fixed natural period of the rush. , ", and set each fixed rush time to 320135 27