WO2005026859A1 - 振動抑制フィルタの自動設定方法 - Google Patents
振動抑制フィルタの自動設定方法 Download PDFInfo
- Publication number
- WO2005026859A1 WO2005026859A1 PCT/JP2004/013141 JP2004013141W WO2005026859A1 WO 2005026859 A1 WO2005026859 A1 WO 2005026859A1 JP 2004013141 W JP2004013141 W JP 2004013141W WO 2005026859 A1 WO2005026859 A1 WO 2005026859A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vibration
- frequency
- suppression filter
- measured
- filter
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
Definitions
- the present invention relates to a method for detecting a vibration when a machine or the like vibrates in a servo control device that drives a servomotor, calculating a frequency having a large frequency component, and setting a filter.
- a servo command input (for example, a speed command) is connected to a signal output of a frequency analyzer or an FFT (Fast Fourier Transform) analyzer, and is a detection output of a servo controller.
- the motor speed is input to the frequency analyzer.
- 6 is a motor
- 7 is an encoder
- 8 is a load machine
- 12 is a servo controller
- 11 is an FFT analyzer.
- the frequency analyzer outputs the signal whose frequency has been swept to the servo controller, performs FFT analysis on the speed waveform of the motor driven by the servo controller, and obtains the vibration frequency. Or, FFT analysis result of sweep waveform and motor speed waveform. Calculate frequency characteristics of force servo system and specify vibration frequency.
- the parameters of a vibration suppression filter for example, a notch filter, a low-pass filter, etc. that cut off the resonating frequency from the vibration frequency obtained in this way were set.
- the resonance frequency fO is obtained from the graph of Fig. 3 (i), and the cutoff frequency of the filter is adjusted to fO, as shown in Fig. 3 (ii).
- a signal having a constant amplitude and a changed frequency is applied to a servo control device, and a motor speed signal is analyzed by analyzing the frequency of a position signal of a movable table of a machine or the like to obtain a resonance frequency.
- the filter parameters were determined to cut this.
- Patent Document 1 Japanese Patent Application Laid-Open No. 05-346813
- the measuring instrument mechanically sweeps the frequency, so if it vibrates once, the load machine will continue to vibrate until an emergency stop occurs. Also, in that case, the vibration state of the load machine could not be settled immediately, so there was a possibility that it would last for a while.
- the control device automatically detects the vibration frequency by a simple method that does not require special processing, determines what kind of frequency component a filter needs to be removed, and sets the filter frequency. The purpose is to do.
- the required filter frequency can be automatically set online when required by a simple method.
- FIG. 1 is a configuration diagram of the present invention and a conventional specific example.
- FIG. 2 is a timing chart of a speed command, a speed, a torque waveform and a vibration level during normal operation.
- FIG. 3 is an example of a vibration waveform.
- FIG. 4 is a setting timing chart.
- FIG. 5 shows frequency characteristics of a load machine.
- (i) is a frequency characteristic without a filter.
- (ii) shows the frequency characteristics when a filter is inserted.
- FIG. 6 is a schematic flowchart for setting a vibration suppression filter of the present invention.
- FIG. 7 is a configuration diagram of a conventional example.
- 1 is a vibration detecting means
- 2 is a microcomputer
- 3 is a current amplifier
- 4 is a base drive circuit
- 5 is a power transistor module
- 6 is a motor
- 7 is an encoder
- 8 is a load machine
- 9 is data.
- Trace 10 is frequency analysis means.
- the microcomputer 2 issues commands such as position and speed from an external controller, etc. Receive.
- the speed control is performed, the current control is performed by the output current command, and the power transistor 5 is driven through the base drive drive circuit 4 to control the motor 6.
- the microcomputer 2 traces the data of the torque or the difference between the estimated speed and the speed during normal operation, for example, at constant speed operation as shown in FIG.
- the vibration detection means 1 detects the vibration.
- the vibration detecting means 1 detects the vibration when the vibration component included in the motor speed signal exceeds a predetermined level when the torque command is! / ⁇ .
- the detection level for example, as shown in FIG. 3, normal operation or operation is performed, and a vibration amplitude level during operation specific to the machine is detected. In this figure, the maximum value of the torque vibration amplitude during normal operation is detected.
- the vibration detection level may be about three times the normal vibration level.
- the frequency analysis means 10 the frequency component or vibration energy corresponding to the large spectrum component is large, and the frequency (multiplied by the frequency and amplitude or its square value is large, frequency), etc. (fO in Fig.
- the selected vibration frequency fO or frequencies before and after it are set as the notch frequency of a vibration suppression filter, for example, a notch filter, the frequency response of a load machine having resonance and anti-resonance as shown in Fig. 5 (i) can be obtained. As shown in Fig. 5 (ii), control can be performed to suppress resonance. Alternatively, the same effect can be obtained even if the cutoff frequency of the low-pass filter is set by fO. In this case, the cutoff frequency of the low-pass filter should be a constant multiple of the measured fO that has been previously set.
- step ST1 the data trace 9 is used to trace the data such as torque or speed.
- step ST2 the vibration detecting means 1 checks whether vibration has occurred. If vibration occurs, the frequency analysis means 10 analyzes the data of the data trace 9 in step ST3.
- the frequency is determined in step ST4. As described above, a frequency corresponding to the magnitude, frequency, or vibration energy corresponding to the spectrum is selected. When data is calculated several times during the occurrence of vibration, the data force of several times is equivalent to vibration energy! / ⁇ ⁇ When the frequency is selected, it is easy to determine.
- step ST5A a vibration suppression filter that cuts off near the frequency, for example, a notch filter is selected as in step ST6A, and the vibration frequency is selected.
- a vibration suppression filter that blocks frequencies below the frequency as in step ST6B for example, a low-pass filter is selected and the time constant of the filter is set.
- the frequency determined by the control capability may affect the control gain up to, for example, about 400 Hz. Therefore, the frequency is determined according to the control capability, for example, by using a low-pass filter.
- the data to be analyzed is data that reflects vibration
- the data may be other than the difference between the speed and the estimated speed, and may be torque or the like.
- the difference between the estimated speed and the speed is calculated, for example, by taking into account the load from the torque command or taking the difference between the speed estimated from the observer and the speed.
- the vibration detection 1, the data trace 9 and the frequency analysis means 10 may be performed by the microcomputer 2.
- a necessary filter can be set when necessary. After setting the vibration suppression filter, confirmation may be made. Also, unlike the one analyzed continuously, only the resonance frequency is obtained, so that it can be separated from the vibration component of the control system.
- the present invention detects a vibration of a load machine in a robot or a numerical control device when the load control device drives a servo motor, finds a vibration having a large vibration frequency component, and suppresses the vibration of the servo control device. Filters can be set automatically.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/571,701 US7532951B2 (en) | 2003-09-12 | 2004-09-09 | Method of automatically setting vibration suppression filter |
DE112004001649T DE112004001649T5 (de) | 2003-09-12 | 2004-09-09 | Verfahren für das automatische Einstellen eines Schwingungsunterdrückungsfilters |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003320989A JP2005092297A (ja) | 2003-09-12 | 2003-09-12 | 振動抑制フィルタの自動設定方法 |
JP2003-320989 | 2003-09-12 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005026859A1 true WO2005026859A1 (ja) | 2005-03-24 |
Family
ID=34308617
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/013141 WO2005026859A1 (ja) | 2003-09-12 | 2004-09-09 | 振動抑制フィルタの自動設定方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7532951B2 (ja) |
JP (1) | JP2005092297A (ja) |
KR (1) | KR20060120647A (ja) |
DE (1) | DE112004001649T5 (ja) |
WO (1) | WO2005026859A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017194881A (ja) * | 2016-04-22 | 2017-10-26 | 三菱電機株式会社 | 機械装置、および機械装置の振動制御方法 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8295983B2 (en) * | 2008-11-10 | 2012-10-23 | Silent Printer Holdings, Llc | Apparatus and method for characterization and control of usage disturbances in a usage environment of printers and other dynamic systems |
DE102009009562A1 (de) * | 2009-02-19 | 2010-09-09 | Integrated Dynamics Engineering Gmbh | Kombinierter Bewegungssensor zum Einsatz in Feedback-Regelsystemen zur Schwingungsisolation |
JP5752888B2 (ja) * | 2010-03-04 | 2015-07-22 | 矢崎総業株式会社 | 平均期間設定支援装置、燃料残量検出システム、及び、平均期間設定支援方法 |
US8855826B2 (en) | 2011-04-25 | 2014-10-07 | Mitsubishi Electric Research Laboratories, Inc. | Controller for reducing vibrations in mechanical systems |
JP5566532B2 (ja) | 2011-05-24 | 2014-08-06 | 三菱電機株式会社 | モータ制御装置 |
EP2759735B1 (de) * | 2013-01-29 | 2016-06-15 | Integrated Dynamics Engineering GmbH | Stationäres Schwingungsisolationssystem sowie Verfahren zur Regelung eines Schwingungsisolationssystems |
EP2976496B1 (en) * | 2013-03-20 | 2017-06-28 | Schlumberger Technology B.V. | Drilling system control |
JP6288104B2 (ja) * | 2013-11-05 | 2018-03-07 | 株式会社安川電機 | トレースデータ収集システム、操作端末、及びトレースデータ収集方法 |
JP2015105043A (ja) * | 2013-11-29 | 2015-06-08 | トヨタ自動車株式会社 | 車両の車体振動制御装置 |
JP6004195B2 (ja) * | 2013-11-29 | 2016-10-05 | トヨタ自動車株式会社 | 車両の車体振動制御装置 |
JP2018178736A (ja) * | 2017-04-03 | 2018-11-15 | 株式会社豊田自動織機 | 車両の振動抑制装置 |
JP7051045B2 (ja) * | 2017-11-08 | 2022-04-11 | オムロン株式会社 | 移動式マニピュレータ、移動式マニピュレータの制御方法及びプログラム |
CN108775373B (zh) * | 2018-06-13 | 2019-12-10 | 南京埃斯顿自动化股份有限公司 | 一种伺服电机与负载多级传动系统的振动抑制方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000148207A (ja) * | 1998-11-13 | 2000-05-26 | Sumitomo Heavy Ind Ltd | 位置制御装置 |
JP2003053643A (ja) * | 2001-08-13 | 2003-02-26 | Mori Seiki Co Ltd | 工作機械送り系の制御方法及び制御装置 |
JP2004086702A (ja) * | 2002-08-28 | 2004-03-18 | Yaskawa Electric Corp | 振動抑制フィルタの自動設定方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05346813A (ja) | 1992-06-16 | 1993-12-27 | Mitsubishi Heavy Ind Ltd | Nc制御装置 |
US5333819A (en) * | 1993-03-12 | 1994-08-02 | General Electric Company | Self tuning motion/vibration suppression system |
JP3751359B2 (ja) * | 1996-03-21 | 2006-03-01 | 本田技研工業株式会社 | 振動騒音制御装置 |
JPH1089403A (ja) * | 1996-09-10 | 1998-04-07 | Nikon Corp | 防振装置 |
US7054094B2 (en) * | 2000-12-12 | 2006-05-30 | Seagate Technology Llc | Real-time automatic loop-shaping for a disc drive servo control system |
-
2003
- 2003-09-12 JP JP2003320989A patent/JP2005092297A/ja active Pending
-
2004
- 2004-09-09 KR KR1020067005089A patent/KR20060120647A/ko not_active Application Discontinuation
- 2004-09-09 DE DE112004001649T patent/DE112004001649T5/de not_active Withdrawn
- 2004-09-09 US US10/571,701 patent/US7532951B2/en not_active Expired - Fee Related
- 2004-09-09 WO PCT/JP2004/013141 patent/WO2005026859A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000148207A (ja) * | 1998-11-13 | 2000-05-26 | Sumitomo Heavy Ind Ltd | 位置制御装置 |
JP2003053643A (ja) * | 2001-08-13 | 2003-02-26 | Mori Seiki Co Ltd | 工作機械送り系の制御方法及び制御装置 |
JP2004086702A (ja) * | 2002-08-28 | 2004-03-18 | Yaskawa Electric Corp | 振動抑制フィルタの自動設定方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017194881A (ja) * | 2016-04-22 | 2017-10-26 | 三菱電機株式会社 | 機械装置、および機械装置の振動制御方法 |
Also Published As
Publication number | Publication date |
---|---|
US20070061047A1 (en) | 2007-03-15 |
KR20060120647A (ko) | 2006-11-27 |
DE112004001649T5 (de) | 2006-07-27 |
US7532951B2 (en) | 2009-05-12 |
JP2005092297A (ja) | 2005-04-07 |
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