Vibration Suppression Control by Acceleration Sensor's Feedback

摘要

This paper presents a new technology in vibration suppression control that is based on the acceleration sensor's feedback. Earlier, a technology for vibration suppression control had been proposed for a controlled object with resonance and anti-resonance frequencies, but this cannot be applied to a controlled object when the anti-resonance frequency does not appear. For example, there are cases when a Cartesian coordinate robot arm is elastically deformed, and the load it holds vibrates strongly. This is why a new vibration suppression control technology based on the acceleration sensor's feedback is needed. For the versatility in control devices, it is necessary to calculate the control parameters automatically and simplify the control algorithms. Mathematical expressions for the gain are also important. The feedback gain parameters can be calculated using the coefficient diagram method (CDM), but we could not find any applications using CDM applying to the acceleration sensor's feedback. We derived the feedback gain parameters using CDM, and also derived an effective approximate expression for the actual position control device. We confirmed the validity of the derived expression with experiments.