Resonance suppression controller in multi-inertia resonance system

摘要

PROBLEM TO BE SOLVED: To increase the effect of resonance suppression in a multi-inertial resonance system.SOLUTION: A mechanical structure in which a motor to be driven by an inverter is coupled with a load through a shaft is represented by a bi-inertial system mechanical model 10 having a motor inertial model and a load inertial model. In consideration of a dead time element 24 owing to the delay of detection of a shaft torsional torque and a dead time element 27 of the torque transmission property of the inverter, a detection value Tof the shaft torsional torque is passed through a high-pass filter 31, whereby resonance frequency components are suppressed. An output of the high-pass filter 31 is subtracted from a torque instruction T, and the resultant subtraction output is passed through a phase compensator 33 of which the transfer function Gis represented by {(αs+ω)/(s+ω)}(where "α" is a phase compensation parameter, "ω" is a high-pass filter cutoff frequency, "s" is a Laplacian operator) to determine a post-phase compensation torque instruction value T. The value Tis then provided to the inverter as a motor torque instruction.SELECTED DRAWING: Figure 2