Title:
METHOD AND DEVICE FOR CONTROLLING VIBRATION DAMPING OF MACHINE AND VIBRATION DAMPING TYPE MACHINE
Document Type and Number:
Japanese Patent JP3946046
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To realize vibration damping control for reducing the vibration of a machine without modeling an object to be controlled, or limiting the moving time of the object to be controlled.
SOLUTION: This vibration damping control method and device is provided to reduce the vibration of a pedestal 10 of a machine including a controller 22 provided with a movable member 12, a servo motor 16, a ball screw 14 and a nut 15 for transmitting the motion of the driving source to the movable member 12, the pedestal 10 for holding them, and a raw position command generating means for generating a raw position command θM* based on the angle of rotation, the highest rotation angular speed, and the rotation angular accelerating/decelerating speed of the servo motor. Then, the raw position command θM* is processed by a filter 20 having characteristics expressed by a transmission function with a polynomial having a zero point offsetting the vibration pole of the pedestal 10 as a numerator, and with a polynomial having a pole corresponding to the accelerating/decelerating time of the raw position command as a denominator so that a corrected position command θM** can be prepared, and this is supplied to a driving circuit 18 of the servo motor 16. The resonation of the pedestal 10 in a direction in parallel with the moving direction of the movable member 12 can be reduced.
Inventors:
Takamasa Kawai
Hiroshi Sasaki
Nobuyuki Matsui
Makoto Iwasaki
Hiroshi Sasaki
Nobuyuki Matsui
Makoto Iwasaki
Application Number:
JP2002006318A
Publication Date:
July 18, 2007
Filing Date:
January 15, 2002
Export Citation:
Assignee:
Fuji Machine Manufacturing Co., Ltd.
International Classes:
F16F15/02; G05D19/02; G05B13/02; (IPC1-7): G05D19/02; F16F15/02; G05B13/02
Domestic Patent References:
| JP2002229602A | ||||
| JP2003043404A | ||||
| JP6250723A | ||||
| JP6114762A | ||||
| JP6114761A | ||||
| JP63308614A | ||||
| JP2001290541A | ||||
| JP2000079583A | ||||
| JP8329630A | ||||
| JP7328965A | ||||
| JP61088306A | ||||
| JP60029121B1 |
Other References:
岩崎 誠、松井 信行,振動抑制効果を考慮したロボットアームの最適位置指令設計法,電気学会論文誌C,社団法人電気学会,1996年12月20日,第117-C巻 第1号,50~56
Attorney, Agent or Firm:
Kobe Norikazu