Vibration Amplitude Suppression Control of Industrial Machine Driven at Resonance Frequency

摘要

Industrial machines are modeled with a two-inertia system. A resonance frequency may not be able to set higher than the frequency band used in operation. When the frequency of the input torque for operation matches a resonance frequency, the vibration of the torsion torque increases. Increased torsion torque vibrations adversely affect machine operation. A method of suppressing an increase in torsion torque vibration includes adding a mechanical damper. The mechanical damper attenuates even at frequencies other than the resonance frequency. Hence, the mechanical damper has an energy loss. Vibration suppression by control is performed without mechanical damper. Generally, in the vibration suppression control to the multi-inertia system, the control bandwidth is set lower than the resonance frequency. If the resonance frequency is lower than the frequency band used for driving, the high-frequency torque used for driving is suppressed. In this paper, the mechanical parameters are changed electrically using electric inertia and friction. When the proposed method is applied to a two-inertia system, the bandwidth is expanded to a frequency higher than the resonance frequency, and an increase in torsion torque vibration is suppressed. The effectiveness of the proposed method is confirmed using simulations and experiments.