OPEN LOOP VIBRATION SUPPRESSING METHOD

摘要

PURPOSE:To suppress vibration without measuring the viscous resistance torque or frictional torque by removing the disturbance torque from a disturbance observer through a filter to obtain an output corresponding to the vibration torque generated from a resilient body and then correcting the drive signal for a motor based on the output thus obtained. CONSTITUTION:A current iM equivalent to a disturbance torque obtained from the disturbance observer of a motor passes through a bandpass filter GF2 to obtain a vibration torque (current value) generated from a resilient body. The current (torque) is then amplified with a gain Kc and subtracted from a current command (torque command) of the motor. Through that operation, control gain of the motor is lowered using only the frequency equal to that of the vibration torque. Consequently, vibration suppressing effect is obtained on the output side)load side) of a drive system. This method can suppress vibration on the output side of the drive system without measuring the viscous resistance torque or frictional torque.