To effectively control the axis torsional vibration of two-inertia resonance system, by determining each coefficient of secondary serial compensator from pole placement of a closed loop system, and giving good attenuation coefficient to the control system.
When controlling two-inertia resonance system 1 by a secondary serial compensator Gd(s), a torque command signal T* can be obtained by passing a deviation Δω between a velocity command signal Ω* and a motor velocity ωm into the secondary serial compensator Gd(s). By giving this torque command signal T* to the motor, the motor velocity ωm occurs. A deviation integrated value between the motor velocity ωm and a load velocity ωL becomes a shaft torsional angle θs, and this shaft torsional angle θs is multiplied by a shaft spring constant Ks, and a shaft torsional torque Ts occurs. By giving a deviation between the shaft torsional torque Ts and an external disturbance torque TL of load to the load, the load velocity becomes ωL. In this case, each coefficient q1, q1 of the secondary serial compensator Gd(s) can be determined from the pole placement of the closed loop system.
FUJIKAWA ATSUSHI
KOBAYASHI HIROKAZU
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