22 Robust Control of belt driving two inertial systems with consideration of load inertial variation 07109486
1 5 2 6 2.1........................................ 6 2.2..................................... 14 2.3.................................... 15 2.4....................................... 17 3 18 3.1........................................ 18 3.2.................................... 20 3.3................................... 24 4 27 4.1........................................ 27 4.2............................... 28 4.3......................................... 29 5 30 6 35 36 A 37 B 38 2
2.1......................................... 6 2.2......................................... 7 2.3........................................ 7 2.4........................................ 8 2.5............................................ 11 2.6.......................................... 12 2.7....................................... 13 2.8.......................................... 13 2.9............................................ 16 2.10....................................... 17 3.1 PI................................. 18 3.2..................................... 19 3.3............................. 20 3.4 (d1).................. 22 3.5 (d2).................. 22 3.6................................... 23 3.7 ()................................... 25 3.8 ().................................... 25 3.9..................................... 26 4.1....................................... 27 4.2....................................... 28 4.3...................................... 29 5.1....................................... 30 5.2 d1.......................................... 31 5.3 GS d1............................................ 31 5.4 d2.......................................... 32 5.5 gs d2............................................ 32 5.6 :d1........................................... 34 5.7 :d2........................................... 34 A.1............................................. 37 3
2.1........................................ 6 2.2....................................... 9 2.3....................................... 9 2.4........................................ 10 2.5......................................... 11 2.6........................................ 12 2.7........................................ 13 2.8..................................... 14 2.9 (kgm 2 ).................................. 15 2.10........................................ 16 3.1..................................... 19 5.1......................................... 30 4
1 [1] PID [2] [3] PID [4] 5
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(2.4.22-rtl3.2-pre3) Fedora Core1 Interface PCI-360116 (2ch, 16bit, 10µ sec) CONTEC CNT24-4(PCI)H (4ch, 24bit, 1MHz) 6
Fig. 2.2: 実験装置全体 Fig. 2.3: 実験装置上から 7
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
Table.2.2 Table.2.3 2.2: -V SGMAV-02A (V) 200 (W) 200 (Nm) 0.837 (Nm) 1.91 (Arms) 1.5 (Arms) 5.3 (min 1 ) 3000 (min 1 ) 6000 (Nm/ARms) 0.45 10 4 (Nkgm 2 ) 0.116(0.18) (kw/s) 35 (rad/s 2 ) 54900 2.3: -V SGDV-1R6A 200V (kw) 0.2 (Arms) 1.6 (Arms) 5.8 AC200230V +10-15 50/60Hz AC200230V +10-15 50/60Hz 9
Table.2.4 2.4: TBN697L SZ (mm) 19.1 (mm) 1771.65 (mm) 9.525 186 (kg) 0.08 10
Fig. 2.5: 2.5: (L ) MTPLA20L075-F-15 20 66.70 d 15 H7 15 A 21 W 26 D 36 11
Fig. 2.6: 2.6: MLR16 d 16 D 24 D1 39.5 P.C.D 29.5 T 13 B 14 12
Fig2.7 Table.2.7 Fig2.8 Fig. 2.7: 2.7: d1( ) d2( ) D(mm) 45 95 T(mm) 20 25 W(mm) 25 25 S(mm) 10 10 V(mm) 16 16 Fig. 2.8: 13
2.2 3 PC 0(Pn000) 0020H 3V (Pn400) 30[0.1V/ ] (Pn212) 65536[Pulse/rev] (Pn416) 0000H Table.2.8 2.8: Parameter Value Pn000 0020H Pn212 65536 Pn400 30 Pn460 Pn50A Pn50B 0000H 8100H 6548H 14
2.3 Fig.2.2 Table.2.9 2.9: (kgm 2 ) d1 1.41 10 4 d2 5.38 10 4 6.04 10 6 64.6 10 6 14.0 10 6 1.16 10 5 d1d2 exp:d1 : M = (kgm 3 ) (m 3 ) (2.1) = 2700 1.77 10 4 (2.2) = 0.478(kg) (2.3) :M = 0.478(kg) M r I Z I Z = 1 2 Mr2 (2.4) = 1 2 0.478 45 2 2 (2.5) = 1.41 10 4 (2.6) 15
Table.2.10 J M J L ( ) 2.10: J M 7.57 10 5 (kgm 2 ) J L (d1) 2.26 10 4 (kgm 2 ) J L (d2) 6.23 10 4 (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
2.4 Fig.5.1 P K u y d r u Fig. 2.10: 17
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.3.1 18
Fig. 3.2: 3.1: (Hz) (Hz) d1 380 182 d2 302 120 19
3.2 1. 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
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
¹ ¹ ¹ ¹¹¹ ¹¹ Fig. 3.4: (d1) ¹ ¹ ¹ ¹¹¹ ¹¹ Fig. 3.5: (d2) 22
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
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 0.7 0.4 24
¹ ¹¹ Fig. 3.7: () ¹ ¹¹ Fig. 3.8: () 25
Fig.3.9 ¹ ¹¹ ¹ ¹¹ ¹ ¹¹ Fig. 3.9: 26
4. 4.1 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.4.1 27
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
4.3 Fig.4.3 d1 d2 d1 d2, 0.25(ms) Fig. 4.3: 29
5 Fig.5.1 P K u y d r u r Table.5.1 Fig. 5.1: 5.1: (s) (rad/s) 0 5 3 10 7 5 10 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
Fig. 5.2: d1 Fig. 5.3: GS d1 31
Fig. 5.4: d2 Fig. 5.5: gs d2 32
u Fig.5.6 Fig.5.7 Fig.5.6 d1 Fig.5.7 d2 d1 d2 33
Fig. 5.6: :d1 Fig. 5.7: :d2 34
6 P 0(s) P 0(J, s) H 35
[1]. ():, 2010.10 Vol.113 No.1103 [2] -V, SIJP S800000 45E [3] MR-J3- A, [4]...., (C ), 69-681, 2003-5, p162-169 36
A Fig. A.1: 37
B 38