Load-side Acceleration Control Based on I-P Drive-side Velocity Control and Acceleration Sensor Feedback

摘要

This paper focuses on controlling the load-side acceleration (LSA) of a two-inertia system with the LSA. Here, an LSA control-based system on integral-proportional (I-P) drive-side velocity control is proposed for an industrial robot with mechanical resonance. The LSA control based on I-P drive-side velocity control with a two-inertia system adopts a wideband acceleration sensor capable of acquiring direct current (DC). The proposed structure is similar to that of the control system that adopts the disturbance observer (DOb)-based acceleration control of a single-inertia system as a minor loop. In addition, the proposed LSA control system comprises a drive-side velocity controller and load-side velocity disturbance observer, which are employed to simplify the plant system and, compensate for the velocity disturbance on the load-side, respectively. Furthermore, the limitations of the conventional acceleration controller and the effectiveness of the proposed LSA controller are verified via theoretical analysis, numerical simulations, and practical experiments.