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2. 发明公开

EP0523255A1 METHOD OF SUPPRESSING TORSIONAL VIBRATION IN A MOTOR SPEED CONTROL SYSTEM AND APPARATUS THEREFOR 失效
标题翻译：程序减少对扭转振动的发动机转速控制及装置。
公开(公告)号：EP0523255A1
公开(公告)日：1993-01-20
申请号：EP92904413.9
申请日：1992-02-05
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： SHIBATA, Naotake Tokyo-Branch , HAMADA, Kaneyuki Kokura-Plant , HAMAMOTO, Komei Kokura-Plant
IPC分类号： H02P5/00 , G05D13/62
CPC分类号： H02P23/16 , G05B2219/37356 , H02P23/20 , Y10S388/93
摘要： A method of suppressing torsional vibration in a motor speed control system having a mechanism which transmits the drive torque from the motor to the load via a drive shaft which has a torsional spring system, and an apparatus therefor. Signals of a motor speed detector usually contain pulsating signals of a high frequency, but differentiation of the speed detection signals does not provide signals that vary in proportion to the rate of change of the motor speed. However, pulsating value of speed signals can be decreased if an average value of signals of the motor speed detector (3) is calculated for every predetermined period, and the ratio of change of the motor speed can be calculated from the above signals. In this invention, the acceleration torque instruction of the motor is given by an output signal of a speed controller (11), and the load torque of the motor that is a disturbance to the acceleration torque of the motor is controlled in a direction to be cancelled by the torque instruction compensation signals output by a motor acceleration torque controller (25) that has a proportional gain and an integrator. This acts in a direction to cancel the disturbance torque of the motor caused by acceleration, sudden change in the load or distorsion of the drive shaft, and whereby torsional vibration is suppressed and variable speed characteristics are obtained maintaining stability.
摘要翻译：具有经由具有扭转弹簧系统，以及装置用于其的驱动轴传递来自电动机的负载的驱动转矩的机构抑制扭转振动的电动机速度控制系统的方法。马达速度检测器的信号一般包含的高频脉动信号，但分化的速度检测信号的不提供信号并正比于电机转速的变化率而变化。然而，如果上的电动机速度检测器的信号的平均值（3）被计算为每个预定周期的速度信号的脉动值可以减小，并且电动机速度的变化的比率可从上述信号来计算。在本发明中，所述电动机的加速转矩指令是通过提供给速度控制器（11）的输出信号，并且所述电动机的负荷转矩确实被扰动到马达的加速转矩的方向被控制成由电机加速度扭矩控制器（25）输出的转矩指令补偿信号取消并具有比例增益和积分器。这个作用在一个方向以抵消由加速度，在驱动轴的负荷或畸变突然变化而引起的电动机的干扰转矩，并且由此扭转振动被抑制，并且可变速度特性得到保持稳定性。

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