22 Robust Control of belt driving two inertial systems with consideration of load inertial variation

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1 22 Robust Control of belt driving two inertial systems with consideration of load inertial variation

2 A 37 B 38 2

3 PI (d1) (d2) () () d GS d d gs d :d :d A

4 (kgm 2 )

5 1 [1] PID [2] [3] PID [4] 5

6 2 2.1 Fig.2.1 Table.2.1 Fig.2.4 Fig.A.1, AC ( d1 d2 ) Fig. 2.1: PC D/A Board Counter Board 2.1: Dell Dimension 2400 / RTLinux( rtl3.2-pre3) Fedora Core1 Interface PCI (2ch, 16bit, 10µ sec) CONTEC CNT24-4(PCI)H (4ch, 24bit, 1MHz) 6

7 Fig. 2.2: 実験装置全体 Fig. 2.3: 実験装置上から 7

8 Fig. 2.4: 実験装置負荷側 Fig.2.4,Fig.A.1 に示す慣性負荷側のネジ穴は接続するベルトの張力を変化させるためにあけられた穴である台座側には 1(mm) ずつずれた状態で同様の穴あけがされており従動側はボルトで固定される Fig.2.4 の番号はベルトの張力が弱い順に番号を付けた 8

9 Table.2.2 Table : -V SGMAV-02A (V) 200 (W) 200 (Nm) (Nm) 1.91 (Arms) 1.5 (Arms) 5.3 (min 1 ) 3000 (min 1 ) 6000 (Nm/ARms) (Nkgm 2 ) 0.116(0.18) (kw/s) 35 (rad/s 2 ) : -V SGDV-1R6A 200V (kw) 0.2 (Arms) 1.6 (Arms) 5.8 AC200230V /60Hz AC200230V /60Hz 9

10 Table : TBN697L SZ (mm) 19.1 (mm) (mm) (kg)

11 Fig. 2.5: 2.5: (L ) MTPLA20L075-F d 15 H7 15 A 21 W 26 D 36 11

12 Fig. 2.6: 2.6: MLR16 d 16 D 24 D P.C.D 29.5 T 13 B 14 12

13 Fig2.7 Table.2.7 Fig2.8 Fig. 2.7: 2.7: d1( ) d2( ) D(mm) T(mm) W(mm) S(mm) V(mm) Fig. 2.8: 13

14 2.2 3 PC 0(Pn000) 0020H 3V (Pn400) 30[0.1V/ ] (Pn212) 65536[Pulse/rev] (Pn416) 0000H Table : Parameter Value Pn H Pn Pn Pn460 Pn50A Pn50B 0000H 8100H 6548H 14

15 2.3 Fig.2.2 Table : (kgm 2 ) d d d1d2 exp:d1 : M = (kgm 3 ) (m 3 ) (2.1) = (2.2) = 0.478(kg) (2.3) :M = 0.478(kg) M r I Z I Z = 1 2 Mr2 (2.4) = (2.5) = (2.6) 15

16 Table.2.10 J M J L ( ) 2.10: J M (kgm 2 ) J L (d1) (kgm 2 ) J L (d2) (kgm 2 ) K S 209.2(Nm/rad) K S 0.21[N] K S 1(mm) Fig.2.9 Fig.2.4 Fig. 2.9: 16

17 2.4 Fig.5.1 P K u y d r u Fig. 2.10: 17

18 3 3.1 Fig. 3.1: PI Fig.2.1 Fig.3.1 PI u y 200(µsec) 1(Hz), 2000(Hz) r 10(rad/sec)5(rad/sec) 1 Fig.3.2 5(rad/sec) d1 5(rad/sec) d2 10(rad/sec) d1 10(rad/sec) d2 300(Hz) 400(Hz) d2 d1 Table

19 Fig. 3.2: 3.1: (Hz) (Hz) d d

20 case1 2. case2 P 0 (s) J P 0 (J, s) P 0(s) Fig.3.3 d1 d2 P 0(s) d1,d2 MATLAB fitfrd 5 d1,d2 P 0(s) ¹ ¹ ¹ ¹¹¹ ¹¹ Fig. 3.3: 20

21 P 0(J, s) P 0(J, s) J M J L P 0(J, s) = J J P 0(s) (3.1) J = J M + J L(d1) + J L (d2) (3.2) 2 J = J M + J L (3.3) J M J L P 0(s) P 0(J, s) Fig.3.4Fig.3.5 Fig.3.4 d1 P 0(J, s) Fig.3.5 d2 P 0(J, s) Fig d1 d2 P 0(J, s) 21

22 ¹ ¹ ¹ ¹¹¹ ¹¹ Fig. 3.4: (d1) ¹ ¹ ¹ ¹¹¹ ¹¹ Fig. 3.5: (d2) 22

23 P 0(s) P 0(J(d1), s) P 0(J(d2), s) d1 d2 P 0 (s) P 0 (J, s) Fig. 3.6: 23

24 3.3 Fig.3.7 Fig.3.8 W T P (s) = P 0(s)(1 + W T (s)δ(s)) W T (s) W T (s) = k T (s + ω T 1 )ω T 2 (s + ω T 2 )ω T 1 (3.4) ω T 1 = 2π 5 (3.5) ω T 2 = 2π 2000 (3.6) k T

25 ¹ ¹¹ Fig. 3.7: () ¹ ¹¹ Fig. 3.8: () 25

26 Fig.3.9 ¹ ¹¹ ¹ ¹¹ ¹ ¹¹ Fig. 3.9: 26

27 H () (i) (ii) H 1 Fig. 4.1: P 0 (s) W T (s) W S (s) W S (s) = 30 ω s1 s+ω s1 ω s1 = 2 π 0.1 H 0.85 ks=30 K 0 (s) Fig

28 4.2 Fig.4.2 P 0 (J, s) P 0 (J, s) = J J P 0(s) J K(J, s) K(J, s) = J J K 0 (s) Fig.4.2 Fig.4.1 W T (s) K(J, s) W S (s) H 0.85 ks=80 Fig. 4.2: 28

29 4.3 Fig.4.3 d1 d2 d1 d2, 0.25(ms) Fig. 4.3: 29

30 5 Fig.5.1 P K u y d r u r Table.5.1 Fig. 5.1: 5.1: (s) (rad/s) Fig.5.2Fig.5.5 Fig.5.2 d1 Fig.5.3 d1 Fig.5.4 d2 Fig.5.5 d2 r y d1 d2 30

31 Fig. 5.2: d1 Fig. 5.3: GS d1 31

32 Fig. 5.4: d2 Fig. 5.5: gs d2 32

33 u Fig.5.6 Fig.5.7 Fig.5.6 d1 Fig.5.7 d2 d1 d2 33

34 Fig. 5.6: :d1 Fig. 5.7: :d2 34

35 6 P 0(s) P 0(J, s) H 35

36 [1]. ():, Vol.113 No.1103 [2] -V, SIJP S E [3] MR-J3- A, [4]...., (C ), , , p

37 A Fig. A.1: 37

38 B 38

64 3 g=9.85 m/s 2 g=9.791 m/s 2 36, km ( ) 1 () 2 () m/s : : a) b) kg/m kg/m k

63 3 Section 3.1 g 3.1 3.1: : 64 3 g=9.85 m/s 2 g=9.791 m/s 2 36, km ( ) 1 () 2 () 3 9.8 m/s 2 3.2 3.2: : a) b) 5 15 4 1 1. 1 3 14. 1 3 kg/m 3 2 3.3 1 3 5.8 1 3 kg/m 3 3 2.65 1 3 kg/m 3 4 6 m 3.1. 65 5