Frequency separation self resonance cancellation for vibration suppression control of a large-scale stage using multiple position sensors

Sakata, Koichi; Asaumi, Hiroyoshi; Hirachi, Kazuyuki; Saiki, Keitarou; Fujimoto, Hiroshi

doi:10.1109/iecon.2013.6700203

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B Frequency Separation Actuation Resonance Cancellation Con1

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2014

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“…Because of this feature, FS-ARC is the dual control system of FS-SRC which is applied for SIMO system [9].…”

Section: B Frequency Separation Actuation Resonance Cancellation Conmentioning

confidence: 99%

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Frequency Separation Actuation Resonance Cancellation for vibration suppression control of two-inertia system using double motors

Inukai

Fujimoto

Takahashi

2014

2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)

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Usually, a humanoid robot using motors has low resonances due to the timing belts at each joint, and the low resonances may deteriorate the response performance and posi tioning precision. In this paper, a joint of humanoid robot which links the motor side to the load side via timing belt is studied.Regarding this system as a two-inertia system, this paper proposes a novel control method which uses multiple motors in both the motor side and the load side for multi-input-single-output (MISO) system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple since there are only two parameters required in the design. Simulations and experimental results also demonstrate the effectiveness of the proposed control system.

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“…Because of this feature, FS-ARC is the dual control system of FS-SRC which is applied for SIMO system [9].…”

Section: B Frequency Separation Actuation Resonance Cancellation Conmentioning

confidence: 99%

“…The robust resonance suppression control for two-inertia system was achieved by combining SRC and SRCDOB [8]. Furthermore, Frequency Separation Tokyo, Japan Email: taro_takahashi@mail.toyota.co.jp Self Resonance Cancellation (FS-SRC) was proposed for XY gantry-stage [9]. It achieves Vibration suppression and phase stabilization.…”

Section: Introductionmentioning

confidence: 99%