Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
  • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
• • G—PHYSICS
  • G10—MUSICAL INSTRUMENTS; ACOUSTICS
  • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
  • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
  • G10K2210/10—Applications
  • G10K2210/121—Rotating machines, e.g. engines, turbines, motors; Periodic or quasi-periodic signals in general
• • G—PHYSICS
  • G10—MUSICAL INSTRUMENTS; ACOUSTICS
  • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
  • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
  • G10K2210/10—Applications
  • G10K2210/123—Synchrophasors or other applications where multiple noise sources are driven with a particular phase relationship
• • G—PHYSICS
  • G10—MUSICAL INSTRUMENTS; ACOUSTICS
  • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
  • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
  • G10K2210/10—Applications
  • G10K2210/129—Vibration, e.g. instead of, or in addition to, acoustic noise
• • G—PHYSICS
  • G10—MUSICAL INSTRUMENTS; ACOUSTICS
  • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
  • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
  • G10K2210/30—Means
  • G10K2210/301—Computational
  • G10K2210/3011—Single acoustic input
• • G—PHYSICS
  • G10—MUSICAL INSTRUMENTS; ACOUSTICS
  • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
  • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
  • G10K2210/30—Means
  • G10K2210/321—Physical
  • G10K2210/3227—Resonators
• • G—PHYSICS
  • G10—MUSICAL INSTRUMENTS; ACOUSTICS
  • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
  • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
  • G10K2210/50—Miscellaneous
  • G10K2210/501—Acceleration, e.g. for accelerometers

Definitions

• the present invention relates to a control method for improving functions of an electric machine.
• speed reducer refers to gears, belts, chains, wires, ball screws, etc.
• Bo Ne emissions preparative flashing speed ⁇ equal Noriyuki c is etc. (gear type of reducer) which is Ri by reason of the structure of the rotational speed of an integral multiple driving motor 1 or one parametric integer fraction, The fluctuation of the parameter occurs, and the fluctuation of the parameter acts as a forcing force to forcibly vibrate the mechanical system.
• FIG. 2 shows an equivalent electric circuit of the electric machine shown in FIG. 1, and the deceleration ⁇ 3 is approximated to an ideal transformer by a spring.
• ⁇ is the torque generated by motor 1
• J M is the motor torquer
• V M is the motor speed
• N is the reduction ratio of decelerator 3
• K is the equivalent of decelerator 3.
• Panel constant, J is load inertia, and V is load speed.
• the panel constant of this equivalent electric circuit is represented as K, and the panel constant of the bubble is arrogant as ⁇ . ing.
• Torque ripples caused by parameter fluctuations in the deceleration section are added to the positions shown in (A) or (B) of Fig. 2 in an additive manner, and the torque The pull is the natural frequency n of the contact vibration system
• the present invention intends to propose a new method of performing a damping action by using a squeezing motor itself (disclosure of the invention).
• an electric signal proportional to the vibration acceleration of the vibrating part is detected by a vibration acceleration detection device,
• the electric signal is converted into a correction signal having an appropriate phase to attenuate the vibration by a phase adjustment circuit and a gain adjustment circuit, and the signal is supplied to a control device of the pressure motor to attenuate the vibration. It was made.
• the present invention provides
• acceleration detectors and simple electric circuits, all of which are signal circuits (not power circuits).
• FIG. 1 is a block diagram of an electric machine
• FIG. 2 is an equivalent electric circuit diagram
• FIG. 3 is a block diagram of an embodiment of the present invention
• FIG. 4 is an electric circuit of a vibration acceleration conversion circuit.
• FIG. 5 is a phase characteristic diagram of the correction signal
• FIG. 6 is an operation explanatory diagram
• FIG. 7 is a principle explanatory diagram of the present invention.
• FIG. 3 is a block diagram of the embodiment of the present invention, in which 1 is a driving motor, and the motor is provided via a subtractor 5 and a speed control device 6 in accordance with a speed command signal Vr from a deceleration command device 4. Driven. 2 is the load and 3 is the telescope.
• the difference between the device of this embodiment and the conventional control method is that a vibration detecting spring 7 for detecting the vibration of the load 2, a vibration speed conversion circuit 8 for detecting the acceleration of the vibration from its output signal, and an output Phase adjustment circuit 9 for adjusting the signal position and gain adjustment
• the vibration acceleration detecting device 11, that is, the vibration detector 7 and the vibration acceleration conversion circuit 8 detect an electric signal proportional to the acceleration of the vibration of the vibrating part.
• the adjustment circuit 9 and the gain adjustment circuit 10 convert the vibration of the vibrating part into a correction signal (described later) having an appropriate phase to attenuate the vibration, and supply the correction signal to the subtracter 5 .
• the vibration detector 7 only needs to electrically detect either the vibration speed X or the displacement X of the load 2 .
• the vibration acceleration conversion circuit 8 converts the input signal into an electric signal proportional to the acceleration X of the vibration. If the vibration detector 7 detects the speed X of the vibration, FIG. 4 (a) A differential circuit composed of an operational amplifier, a resistor, and a capacitor as shown in Fig. 1 is used. When using also detect displacement of X by with or vibration detector 7, a differential circuit of FIG. 4 (b) to I'll show Do two stages is used.
• the vibration detector 7 detects the vibration acceleration X, the vibration acceleration conversion circuit 8 is unnecessary.
• the phase adjusting circuit 9 is for compensating the phase characteristics of the driving motor 1. ⁇
• phase characteristic of the output signal is driven by the phase adjustment circuit 9 by the phase difference e M between the output of the acceleration conversion circuit 8 and the acceleration 'x' of the load vibration, and the speed control device 6 of the drive motor.
• the correction signal given to the control device of the motor 1 is in phase opposite to the acceleration X of the load vibration.
• Fig. 5 shows these phase relationships.
• an accelerometer is used as the vibration detector 7, and if the phase delay of the moving motor 1 at the resonance frequency and the phase delay of the detection signal by the accelerometer are not the same, As described above, this phase adjustment circuit becomes unnecessary together with the vibration acceleration conversion circuit 8.
• phase adjustment by the phase adjustment circuit 9 may be accurate as long as the frequency range in which vibration is actually a problem (that is, the vicinity of the resonance frequency) is accurate.
• the gain adjustment circuit 10 determines the magnitude of the correction signal for attenuating the vibration, and therefore uses an operational amplifier, a resistor divider, a variable resistor, etc.
• Fig. 6 (a) shows the response of the control system at the common frequency of the conventional motor core, in which the speed command of the drive motor 1 is changed by the fluctuation of the speed of the reduction gear 3. If a constant value is set so that the generated vibration coincides with the natural frequency of the vibrating system (resonance occurs, the load 2 generates large vibration, and the speed of the rotating motor 1 increases from the load 2 Fluctuates a little under the influence of
• V iFO, Fig. 6 (b) shows the response of the system at the resonance frequency when a correction signal for attenuating vibration to drive motor 1 is positively applied to the speed command by the configuration shown in Fig. 3. It shows.
• the acceleration X of the vibration of the load whose phase has been adjusted is added as a correction signal so that the phase is opposite to the alternating current of the motor speed.
• the adjustment is performed by the gain adjustment circuit 10 (manual).
• the vibration becomes smaller as the gain is raised, but becomes too tuned when the gain is too large. Therefore, the adjustment is to try to select the largest non-turbulent gun.
• Fig. 7 (A) the equivalent circuit of the electric machine that drives the load 2 via the reduction gear 3 by the driving motor 1 is as shown in Fig. 7 (A) (see Fig. 2). If the circuit in Fig. 7 (A) is represented by a differential equation, the following equation is obtained.
• ⁇ ⁇ is the natural frequency of the system, is the damping coefficient, and has a decay term
• N d t means that the damping term f occurs.
• the vibration can be attenuated by detecting-on the load side and adding the correction signal d dt -C to the speed control loop.
• the vibration cannot be attenuated only by adding to the degree control loop, and it is necessary to compensate for this phase lag.
• phase adjustment circuit 9 compensates for these phase delays.
• detecting vibration There are three methods of detecting vibration: a method of detecting the displacement X of the vibration, a method of detecting the speed of the vibration, and a method of detecting the acceleration X of the vibration.
• the vibration acceleration conversion circuit 8 in the above embodiment is the conversion circuit.
• vibrations generated in the load of the electric machine there are various types of vibrations generated in the load of the electric machine, but if the purpose can be sufficiently achieved by suppressing the remarkable frequency components, only the remarkable frequency components can be selectively applied.

Landscapes

• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Acoustics & Sound (AREA)
• Aviation & Aerospace Engineering (AREA)
• Mechanical Engineering (AREA)
• Control Of Electric Motors In General (AREA)

Priority Applications (2)

Applications Claiming Priority (2)

Publications (1)

Family

ID=14046528

Family Applications (1)

Country Status (6)

Families Citing this family (13)

Citations (2)

Family Cites Families (3)

• 1981
  • 1981-06-17 JP JP56092155A patent/JPS57208891A/ja active Pending
• 1982
  • 1982-06-17 WO PCT/JP1982/000232 patent/WO1982004506A1/ja not_active Application Discontinuation
  • 1982-06-17 DE DE823248810T patent/DE3248810A1/de not_active Withdrawn
  • 1982-06-17 CH CH993/83A patent/CH660937A5/de not_active IP Right Cessation
  • 1982-06-17 GB GB08301835A patent/GB2114777A/en not_active Withdrawn
  • 1982-06-17 EP EP19820901855 patent/EP0081594A4/de not_active Withdrawn

Patent Citations (2)

Non-Patent Citations (1)

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