JPS62155348A - Vibrationproof control for power transmission system - Google Patents

Abstract

PURPOSE:To improve the vibrationproof control faculty by installing a signal generator for offsetting the vibrating force based on the speed variation or the variation of torque in an operation instruction value generating part or an operating servo system. CONSTITUTION:The mechanical system of the captioned system is constituted of four inertial masses, i.e., a motor 1, input shaft side gear 2, output shaft side gear 3, and a control output element 4, and a torsional spring element, i.e., a motor shaft and an output shaft. The calculation equation for the torque or revolution speed for offsetting the resonance vibration of the mechanical system which is previously analyzed is set. A computer 10 outputs the incremental pulse P as operation instruction to a correction signal preparing circuit 9 for reducing resonance vibration. With such constitution, effective vibrationproof control can be carried out.

Description

Detailed Description of the Invention [Technical Field of the Invention] The present invention relates to a power transmission system prevention method for preventing vibrations caused by speed fluctuations or torque unevenness of a reduction gear in a power transmission system including a reduction gear and driven by a motor. It is related to vibration control method.

[Prior art and its problems]

In a semi-closed loop where the originally intended speed control output does not have a detector, if the speed control output contains unanticipated vibrations due to periodic disturbances,
Conventionally, the following measures have been adopted.

Mechanically, there are known methods such as adding a damper or dynamic vibration reducer, and electrically, methods such as detecting the vibration acceleration of the element that becomes the control output and feeding it negative feedback to the speed system within the control system are known. was.

Of these, the former mechanical method requires considerable installation space and at the same time results in a reduction in mechanical efficiency. Furthermore, even if a dynamic vibration absorber is effective at a specific frequency, it may have a negative effect on other frequencies. On the other hand, the latter electrical method is known to be disadvantageous in terms of cost because it uses an acceleration pickup for detecting acceleration.

[Purpose of the invention]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vibration/fi damping control sound that can effectively eliminate the drawbacks of the prior art methods.

[Structure of the invention]

The present invention provides a vibration isolation control method having the structure described in the claims, that is, a signal generator for canceling excitation force based on speed fluctuation or torque unevenness in an operation command value generation section or an operation servo system. This is achieved by a vibration isolation control method for the power transmission system, which consists of providing a vibration absorbing signal to the motor control system.

〔Effect of the invention〕

According to the present invention, by using an electrical method as a whole, the addition of a vibration isolation mechanism, which is a drawback of conventional mechanical methods, is avoided, and furthermore, a correction signal is added to the control system to cancel the resonant vibration of the mechanical system analyzed in advance. This makes it possible to eliminate the need for installation of an acceleration pickup (sensor) and its feedback, which are drawbacks of conventional electrical methods.

[Explanation of Examples]

The invention is disclosed with reference to the accompanying drawings, which illustrate embodiments of the invention.

FIG. 1 shows an example of a vibration model of a mechanical system of an apparatus to which the present invention is applied. The system in the diagram consists of the inertial mass 1 of the motor as a drive source, the inertial mass 2 of the human power shaft side gear, the inertial mass N3 of the output shaft side gear, and the inertial mass 4 of the side control output element.
It is composed of two rotating bodies, a torsion spring element 5 of the input shaft or motor shaft, and a torsion spring element 6 of the output shaft.

Each rotating body is driven by the torque generated by the motor, and the voltage applied to the motor or By adjusting the supplied current, the necessary torque is generated, forming a speed control system.

Here, as a periodic excitation force due to speed fluctuation or torque unevenness in the reducer consisting of both gears 2 and 3,
If F 5in (ωt) acts, the torque T” that should be applied to cancel this excitation force at this time is expressed by the following equation.

T'=T −F, (L −4(J3Xω)/K11x
sin(ωt) +1) Here, Fo: Amplitude of periodic excitation force J3: Moment of inertia of motor 2: Torsional spring constant of motor shaft ω: Rotation command speed T: Necessary when no excitation force acts Torque L: Similarly to time, the speed ω' that should be driven to cancel the excitation force is expressed by the following equation with respect to the rotational speed command ω.

ω゛ =ω (12(Fo/Kz)stn(ωt) l
(21 In the present invention, the torque or speed expressed by both formulas (1) and (2) is generated via an appropriate arithmetic/control circuit, and the output of this circuit is effectively added to the system. It is possible to achieve long-term anti-vibration control.

FIG. 2 shows an example of the configuration of an apparatus for carrying out the present invention, and in the figure, reference numerals 1.2.3.4 represent the same elements as in FIG. 1. 7 is an encoder, 8 is a PLL type servo motor driver, 9 is a correction signal generation circuit for reducing resonance vibration, IO
1 and 2 respectively indicate computers, and the computer 10 is configured to output incremental pulses P as operation commands to the circuit 9.

FIG. 3 shows an example of a resonant vibration reduction correction signal generation circuit constructed by combining known circuit elements.

According to the present invention, a power transmission system having a configuration other than that shown in FIG. 1 or a plurality of circumferences 2I! l: Even for a system in which an excitation force having a vibration component is acting, the same vibration isolation control as described above is carried out by deriving and applying a formula corresponding to (11) or (2). be able to.

FIG. 4 shows a graph showing the vibration damping effect of the embodiment of the present invention. The horizontal axis shows the motor rotation speed, and the vertical axis shows the vibration level, and shows a comparison between the presence and absence of control according to the present invention. In this embodiment, a power transmission system having a configuration corresponding to the model diagram shown in FIG. This was carried out. uncontrolled state (
It can be seen that in Δ), the vibration that occurred at about 80 Or, p, m, and weak was significantly reduced in the control state (mu), and a practically desirable result was achieved at 1H. Naturally, the same result can be obtained by adding the torque given by the formula (fl) into the system.

[Brief explanation of drawings]

Fig. 1 is an example of a model diagram of a mechanical system of a device to which the present invention is applied, Fig. 2 is a block diagram showing an example of the configuration of a device for implementing the present invention, and Fig. 3 is a resonant vibration reduction FIG. 4 is a block diagram showing an example of the configuration of a correction signal generating circuit for use in the image forming apparatus, and a graph showing the anti-vibration effect of the anti-vibration method according to the present invention. [Reference symbols] 1: Inertial mass of the motor, 2: Inertial mass of both input shaft sides, 3: Inertial mass of the output shaft side gear, 4: Inertial mass of the control output element, 5: Torsion spring element of the motor shaft,
6; Output shaft torsion spring element, 7 encoder, 3:
PLL type servo motor driver, 9: Resonance signal reduction correction signal creation circuit, [0: Computer

Claims (1)

[Claims] In a power transmission system vibration isolation control method for preventing vibrations caused by speed fluctuations or torque unevenness of a reducer in a power transmission system including a reducer and driven by a motor, an operation command value generating section or A vibration isolation control method for a power transmission system, characterized in that a signal generator for canceling excitation force due to speed fluctuations or torque unevenness is provided in the driving servo system, and a vibration absorption signal is applied to the motor control system.