VIBRATION SUPPRESSING DEVICE FOR TWO-INERTIA RESONANCE SYSTEM BY INERTIA REDUCED CONTROL

摘要

PURPOSE: To improve vibration suppression effects on the two-inertial resonance system even when the gain of an axial torque observer is small. CONSTITUTION: The deviation between the angular velocity command M* of a motor and the angular velocity M of the motor is obtained by a 1st deviation unit 11. The deviation output of the 1st deviation unit 11 is inputted to a speed amplifier 12. The output of this speed amplifier 12 is supplied to an SFC(disturbance suppressing function) part 13. The output of the SFC part 13 is inputted as input torque 1 to an adder 14 and a primary delay filter part 15. The output of the primary delay filter part 15 is supplied to the plus terminal of a 3rd deviation unit 16 and an axial torque estimated value S s is supplied to the minimum terminal from the axial torque observer 17. The output of this 3rd deviation unit 16 is supplied to the adder 14 through a gain part 18 for inertial reduction and this adder 14 adds the input torque and the output of the gain part 18 together to output motor torque M. This motor torque is inputted to a two-inertial system circuit part 19 and also supplied to the axial torque observer 17.