| 摘要 |
PURPOSE:To obtain vibration suppressing effect by imparting the phase difference between the exciting force of a servo motor and a torsional vibration to a torque command thereby regulating the phase difference between the exciting force of servo motor and the torsional vibration. CONSTITUTION:The vibration control method prevents vibration caused by a synchronous torque disturbance having period integer times as high as the rotational speed of a servo motor t45, an inverter 42 or a reduction gear 46 in a power transmission system having a load 47 being driven through the servo motor 45 coupled with the reduction gear 46 and an equivalent rigid body. A controller 405 for the servo motor 45 or the inverter 42 is provided with a suppression compensator in order to produce a suppression compensating signal based on a synchronous torque disturbance, and a motor excitation control compensation signal for compensating the phase difference between the suppression conpensating signal and a torsional vibration signal is fed to a motor driving system. According to the constitution, perfect vibration suppressing effect can be achieved at all times. |
