Mechanical resonant frequency feature obtaining method for alternating current servo system based on pseudorandom sequence code

A pseudo-random sequence code, AC servo technology, applied in the acquisition of frequency characteristics, can solve the problem of inability to obtain low-frequency frequency characteristics effectively and accurately, and achieve the effect of preventing the influence of the system, short time, and small noise interference

Inactive Publication Date: 2013-06-12
HARBIN INST OF TECH +1
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  • Application Information

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Problems solved by technology

[0004] The present invention is to solve the problem that the mechanical resonance characteristics obtained by frequency sweeping in the open loop cannot effectively and accurately obtain the frequency characteristics of the low frequency band, and provides a method for obtaining the mechanical resonance frequency characteristics of an AC servo system based on a pseudo-random sequence code

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  • Mechanical resonant frequency feature obtaining method for alternating current servo system based on pseudorandom sequence code
  • Mechanical resonant frequency feature obtaining method for alternating current servo system based on pseudorandom sequence code
  • Mechanical resonant frequency feature obtaining method for alternating current servo system based on pseudorandom sequence code

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specific Embodiment approach 1

[0021] Specific implementation mode 1: the following combination Figure 1 to Figure 5 To explain this embodiment, the method for obtaining mechanical resonance frequency characteristics of an AC servo system based on a pseudo-random sequence code in this embodiment includes the following steps:

[0022] Step 1: According to the requirements of the system's mechanical resonance frequency accuracy, select the primitive polynomial of order n, where n is a positive integer greater than or equal to 2;

[0023] Step 2: The initial n-order sequence of the binary m sequence is formed by the coefficients of the primitive polynomial of order n, and the feedback shift register is initialized;

[0024] Then repeat the following calculation process: multiply and accumulate the feedback shift register and the initial n-order number sequence, and take the modulus of the accumulated value base 2 for feedback calculation to update the feedback shift register; until the calculation obtains 2 n -1 bina...

specific Embodiment approach 2

[0048] Specific implementation manner 2: This implementation manner further explains the implementation manner 1. The n-th order primitive polynomial in this embodiment is selected as the 10-th order primitive polynomial, and 2 10 = 1024 binary m sequences.

[0049] The specific implementation steps of this embodiment are as follows:

[0050] Step 1. Select the appropriate primitive polynomial order according to the sequence length to be generated. If n=10, the generated pseudo-random sequence has N=1024 sequence codes. In the sequence code with a frequency of 1kHz, the sequence time is only 1. Seconds, plus the subsequent FFT, greatly reduces the total time for frequency characteristics acquisition.

[0051] Step 2. Initialize the initial sequence and feedback shift register. The selection of the initial sequence is related to the coefficients of the primitive polynomial. When n=10, the initial sequence iniseq=[0010000001], and the initial shift register switchreg=[0000000001]. It...

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Abstract

The invention provides a mechanical resonant frequency feature obtaining method for an alternating current servo system based on a pseudorandom sequence code, belonging to the technical field of frequency feature obtaining of an alternating current servo system, and solves the problem that the mechanical resonant feature obtained by sweeping frequency under an open loop cannot effectively and accurately obtain the frequency feature of low frequency. The method comprises the following steps of firstly obtaining an n-order primitive polynomial; combining an initial n-order sequence of a binary m sequence by the coefficients of the n-order primitive polynomial, multiplying a feedback shift register and the initial n-order sequence and accumulating and summing, performing feedback calculation after the accumulated value takes 2 as a base number and is subjected to modulo operation, and finally obtaining 2<n> binary m sequences; converting the m sequences into a current value sequence as the given current under the speed open loop of the alternating current servo system; and respectively performing fast Fourier transform for the current value sequence and an acquired motor rotary speed sequence, performing mathematic operation for the converted results, and obtaining a Bode diagraph of the open loop alternating current system. The method provided by the invention can be used for obtaining the mechanical resonant frequency feature of the alternating current servo system.

Description

Technical field [0001] The invention relates to a method for acquiring mechanical resonance frequency characteristics of an AC servo system based on a pseudo-random sequence code, and belongs to the technical field of acquiring frequency characteristics of an AC servo system. Background technique [0002] At present, the frequency characteristics of the AC servo system provide help in many aspects to improve the performance of the servo system, the most important of which is the application in the suppression of mechanical resonance. If the servo system can accurately obtain the resonance characteristics in advance, the system can avoid mechanical resonance through parameter adjustment or put in a notch filter, and it can also reduce the use of resources by the online suppression algorithm. Therefore, it is very necessary to obtain the frequency characteristics, especially the mechanical resonance characteristics information quickly and accurately in the AC servo system. [0003] ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01R23/06G01R23/16
Inventor 杨明郝亮徐殿国
Owner HARBIN INST OF TECH
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