유연축을 갖는 기어트레인으로 구동되는회전 서보계 제어의 안정성 해석

Abstract

This study focuses on the stability of feedback control for rotating servo systems driven by a flexible gear train. In servo drive systems where the load is connected to the driving motor through a flexible shaft that has insufficient stiffness, unwanted mechanical vibration can occur. This mechanical vibration can reduce the control performance. To suppress this mechanical vibration, state feedback controls or cascade PI(proportional-integral) controls have been proposed. However, the state feedback control is cumbersome to be applied to the design; moreover, a PI-based cascade control cannot ensure stability. In this study, as an internal damping control, a simple feedback control based on the relative position or relative speed between the driving motor and load is proposed, and their stability conditions are derived. The feasibility of the proposed method is verified through simulation examples.