TY - JOUR
T1 - Spatial disturbance suppression of a flexible system based on wave model
AU - Inoue, Yuuki
AU - Katsura, Seiichiro
N1 - Funding Information:
A disturbance estimation and suppression control against a disturbance that has the spatial dynamics based on the wave system was proposed. On the model of the resonant system, the position which a disturbance acting on is limited in the conventional lumped-parameter model. Therefore, it is difficult to consider the point a disturbance acting on strictly or the case that a distributed disturbance acts. Hence, the modeling based on the wave system which is a kind of the distributed-parameter model was conducted. In this way, the spatial dynamics of a disturbance could be considered. The reflected wave rejection, which is a vibration control method in the wave system was implemented because the vibration control is needed in the control of the resonant system. Furthermore, the control system for the estimation and suppression of a spatial disturbance was proposed. Here, the control system for a spatial disturbance suppression was equivalent to the wave-based disturbance observer that was already proposed. Finally, the validity of the proposed control system was verified by experiments. Acknowledgment This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 151203009, 2017.
Publisher Copyright:
© 2018 The Institute of Electrical Engineers of Japan.
PY - 2018
Y1 - 2018
N2 - Currently, there is a need for precise motion control of industrial machines. For precise motion, it is important to keep the motion robust against disturbances such as gravity or reaction force from the environment. Industrial machines include flexible components such as gears and couplings, and they are modeled as a resonant system. Models expressing resonant systems are classified into lumped-parameter model and distributed-parameter model. Conventionally, the control theory based on the lumped-parameter model has been widely researched because that model is easy to deal with. However, the position which a disturbance acts on is limited to the generator or the lumped inertia of the load in these methods. Therefore, there is a danger that the disturbance suppression performance may deteriorate in the case that a distributed disturbance acts on the load. Here, the distributed-parameter model considering the position which a disturbance acts on, is proposed based on the wave equation. Wave-based modeling can consider the spatial dynamics of a disturbance. As a result, conventional disturbance suppression control is extended for the spatial dynamics.
AB - Currently, there is a need for precise motion control of industrial machines. For precise motion, it is important to keep the motion robust against disturbances such as gravity or reaction force from the environment. Industrial machines include flexible components such as gears and couplings, and they are modeled as a resonant system. Models expressing resonant systems are classified into lumped-parameter model and distributed-parameter model. Conventionally, the control theory based on the lumped-parameter model has been widely researched because that model is easy to deal with. However, the position which a disturbance acts on is limited to the generator or the lumped inertia of the load in these methods. Therefore, there is a danger that the disturbance suppression performance may deteriorate in the case that a distributed disturbance acts on the load. Here, the distributed-parameter model considering the position which a disturbance acts on, is proposed based on the wave equation. Wave-based modeling can consider the spatial dynamics of a disturbance. As a result, conventional disturbance suppression control is extended for the spatial dynamics.
KW - Reflected wave rejection
KW - Robust control
KW - Spatial disturbance
KW - Vibration control
KW - Wave system
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U2 - 10.1541/ieejjia.7.236
DO - 10.1541/ieejjia.7.236
M3 - Article
AN - SCOPUS:85046264943
SN - 2187-1094
VL - 7
SP - 236
EP - 243
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
IS - 3
ER -