AUTOMATIC SUPPRESSION DEVICE FOR CYCLIC DISTURBANCE

摘要

In torque pulsation suppressing control in apparatus using battery as main power source, with feedforward table, there arises compensating table error due to voltage fluctuation by battery internal resistance, depending on load power.;In system where compensating values for suppressing torque pulsation are collected beforehand in the form of compensating table, and the torque pulsation of each frequency component is suppressed by the torque compensating quantity determined by inputting torque command and sensed rotational speed, the system senses main power source voltage of controlled object, and to perform compensation by outputting the torque compensating quantity dependent on the voltage by inputting into the compensating table corresponding to voltage. Furthermore, a compensation correcting section corrects torque compensating quantity Tcn determined by the sum of output Ta of real part compensating table and quantity jTb of imaginary part compensating table, with predetermined table or proportional expression depending only on voltage.

主权项

1. A periodic disturbance automatic suppressing apparatus including a compensating table of values of a torque compensating quantity for suppressing torque pulsation, prepared beforehand by extracting a torque pulsation frequency component of a controlled object, determining the torque compensating quantity by inputting a torque command and a sensed rotational speed and suppressing torque pulsation of the controlled object at each frequency component by inputting a deviation between the torque compensating quantity and the torque command into the controlled object,
the compensating table being a collection of compensation tables and the apparatus being configured to sense a main power source voltage of the controlled object, to input into the compensation table corresponding to the main power source voltage and to output the torque compensating quantity related with variation of the main power source voltage.