Study on Reference Trajectory Planning for Vibration Suppression of 2-Mass System

2-관성 공진계의 진동 억제를 위한 기준 입력 궤적에 관한 연구

This paper presents an speed reference trajectory planning methods for vibration suppression in a t-mass resonant system which has a flexible coupling between a load and a driving motor. Due to this flexibility, the system often suffers vibration especially when the motor is controlled for higher speed command. The steady state conditions are utilized to derive desired load speed trajectory which does not cause the torsional vibration. And the desired motor speed trajectory is synthesized base on the relation between load and motor speed. The simulation and experiment result suggest that the proposed method effectively suppress the vibration.