Mechanical vibration detector and vibration damping controller

Details Mechanical vibration detector and vibration damping controller Mechanical vibration detector and vibration damping controller

1998-02-18

1999-11-23

Martin, David

Electricity: motive power systems

Constant motor current, load and/or torque control

318114, 318128, 318460, 310 51, H02P 700

Patent

active

059906456

DESCRIPTION:

BRIEF SUMMARY
TECHNICAL FIELD

The present invention relates to a motor control apparatus having a mechanical-vibration detecting apparatus for detecting the vibration of a mechanism driven by a motor.


BACKGROUND ART

As a mechanical-vibration detecting apparatus and a vibration-reduction control apparatus in a motor control system, there is an apparatus proposed in Japanese Patent Application No. 127859/94 filed by this applicant. In this prior art, a motor-containing mechanism system is separated into an equivalent rigid body system and a mechanical vibration system so that mechanical vibration is estimated at a high speed by an observer based on an equivalent rigid body system model to perform vibration reduction control.
In the prior art, however, a quadratic observer is constituted with the angular velocity and step-like torque disturbance of the equivalent rigid body system as state variables, so that not only an equivalent rigid body model and a proportional operation means but also an integrating operation means are required in order to constitute a mechanical-vibration detecting apparatus. Two parameters are required to be set for the observer and, furthermore, the phase of a mechanical vibration signal varies largely in accordance with the set-values of the parameters so that there arises a problem that it is difficult to adjust the parameters.


DISCLOSURE OF THE INVENTION

Therefore, an object of the present invention is to provide a mechanical-vibration detecting apparatus in which not only adjustment is easy but also mechanical vibration can be taken out with high accuracy, and to provide a vibration-reduction control apparatus by which reduction of mechanical vibration can be achieved.
In order to achieve the above problem, in a motor control apparatus for controlling the torque of a motor, the first invention of the present application is characterized by comprising: output of the proportional operation means to supply a resulting addition signal to the equivalent rigid body model, and for subtracting an output of the equivalent rigid body model from a velocity signal of the motor control apparatus to supply a resulting difference signal to the proportional operation means and to the high-pass filter so that an output of the high-pass filter is used as a mechanical vibration control signal.
In a motor control-apparatus for controlling the torque of a motor, the second invention of the present application is characterized by comprising: output of the proportional operation means to supply a resulting addition signal to the equivalent rigid body model, and for subtracting an output of the equivalent rigid body model from a velocity signal of the motor control apparatus to supply a resulting difference signal to the proportional operation means and to the high-pass filter, wherein an output of the high-pass filter is supplied to the phase adjuster and an output of the phase adjuster is supplied to the amplitude adjuster so that a signal obtained by adding an output of the amplitude adjuster to a torque command given to the motor control apparatus is used as a new torque command.
In a motor control apparatus for controlling the torque of a motor, the third invention of the present application is characterized by comprising: output of the proportional operation means to supply a resulting addition signal to the equivalent rigid body model and for subtracting an output of the equivalent rigid body model from a velocity signal of the motor control apparatus to supply a resulting difference signal to the proportional operation means and to the high-pass filter, wherein an output of the high-pass filter is supplied to the phase adjuster and an output of the phase adjuster is supplied to the amplitude adjuster so that a signal obtained by adding an output of the amplitude adjuster to a velocity command given to the motor control apparatus is used as a new velocity command
By the aforementioned means, a linear equivalent rigid body observer is constituted so that one integrating means becomes unnecessary and the

REFERENCES:
patent: 4419897 (1983-12-01), Matsuoka
patent: 5831401 (1998-11-01), Coleman
patent: 5850130 (1998-12-01), Fujisaki et al.
Seung-Ho Song et al., "Torsional Vibration Suppression Control in 2-Mass System by State Feedback Speed Controller", Proceedings of the IEEE Conference on Control Applications, Vancouver, B.C., Sep. 13, 1993, pp. 129-134.

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