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1. WO2020070988 - VIBRATION SUPPRESSION DEVICE, VIBRATION SUPPRESSION METHOD, AND PROGRAM

Publication Number WO/2020/070988
Publication Date 09.04.2020
International Application No. PCT/JP2019/032249
International Filing Date 19.08.2019
IPC
G05B 11/36 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
11Automatic controllers
01electric
36with provision for obtaining particular characteristics, e.g. proportional, integral, differential
G05B 13/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
H02P 29/00 2016.01
HELECTRICITY
02GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
29Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
B25J 13/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
CPC
B25J 13/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
G05B 11/36
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
11Automatic controllers
01electric
36with provision for obtaining particular characteristics, e.g. proportional, integral, differential
G05B 13/02
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
H02P 29/00
HELECTRICITY
02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
29Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
Applicants
  • 株式会社神戸製鋼所 KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.) [JP]/[JP]
Inventors
  • 西田 吉晴 NISHIDA, Yoshiharu
  • 四方田 真美 YOMODA, Mami
  • 木田 直希 KIDA, Naoki
Agents
  • 山尾 憲人 YAMAO, Norihito
  • 前堀 義之 MAEHORI, Yoshiyuki
Priority Data
2018-18882604.10.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) VIBRATION SUPPRESSION DEVICE, VIBRATION SUPPRESSION METHOD, AND PROGRAM
(FR) DISPOSITIF DE SUPPRESSION DE VIBRATIONS, PROCÉDÉ DE SUPPRESSION DE VIBRATIONS, ET PROGRAMME
(JA) 振動抑制装置、振動抑制方法及びプログラム
Abstract
(EN)
A vibration suppression device which includes an operation unit, an actuator unit for actuating the operation unit, and an elastic body for connecting the operation unit and the actuator unit, and suppresses vibrations on the operation unit in a machine system having a unique vibration mode, the vibration suppression device being characterized by being provided with: a generation means for generating a drive signal to drive the actuator unit; an estimation means for estimating a measurement amount relating to the machine system; a correction means for correcting the drive signal generated by the generation means on the basis of the measurement amount estimated by the estimation means; and a changing means for changing a gain used in the estimation means in such a manner that, in a period in which a modeling error of the machine system is increased, an influence of the increase in the modeling error is reduced.
(FR)
L'invention concerne un dispositif de suppression de vibrations qui comprend une unité de fonctionnement, une unité actionneur pour actionner l'unité de fonctionnement, et un corps élastique pour relier l'unité de fonctionnement et l'unité actionneur, et supprime les vibrations sur l'unité de fonctionnement dans un système de machine ayant un mode de vibration unique, le dispositif de suppression de vibrations étant caractérisé en ce qu'il comprend : un moyen de génération pour générer un signal de commande en vue de commander l'unité actionneur; un moyen d'estimation pour estimer une grandeur de mesure relative au système de machine; un moyen de correction pour corriger le signal de commande généré par le moyen de génération sur la base de la grandeur de mesure estimée par le moyen d'estimation; et un moyen de modification pour modifier un gain utilisé dans le moyen d'estimation de telle sorte que, dans une période au cours de laquelle une erreur de modélisation du système de machine est accrue, l'influence de l'accroissement de l'erreur de modélisation est réduite.
(JA)
動作部と、動作部を作動させるアクチュエータ部と、動作部及びアクチュエータ部を連結する弾性体とを含む、固有振動モードを有する機械システムにおける動作部の振動を抑制する振動抑制装置であって、アクチュエータ部を駆動する駆動信号を生成する生成手段と、機械システムに関する計測量を推定する推定手段と、推定手段により推定された計測量に基づいて、生成手段により生成された駆動信号を補正する補正手段と、機械システムのモデル化誤差が増大する期間において、モデル化誤差の増大の影響が小さくなるように、推定手段で用いられるゲインを変更する変更手段とを備えたことを特徴とする振動抑制装置。
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