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Method and apparatus for mechanical resonance suppression

A mechanical resonance and motor side technology, applied in the control of electromechanical transmission, motor generator control, control of electromechanical brakes, etc., can solve problems such as mechanical resonance of the double inertia transmission system with gap

Active Publication Date: 2016-06-29
国创机器人创新中心(哈尔滨)有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, an object of the present invention is to propose a method for suppressing the mechanical resonance of a dual-inertia elastic system with a gap based on a shaft moment observer, so as to solve the mechanical resonance problem of a dual-inertia transmission system with a gap

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  • Method and apparatus for mechanical resonance suppression
  • Method and apparatus for mechanical resonance suppression
  • Method and apparatus for mechanical resonance suppression

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Embodiment Construction

[0019] In order to make the purpose, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0020] figure 1 is a schematic diagram of the servo axis of the double inertia elastic system with gap, figure 2 It is the principle block diagram of the method for suppressing the mechanical resonance of the dual-inertia elastic system with gap based on the axial moment observer. The system is a speed and current double closed-loop speed control system, in which the current loop is simplified to a single unit. After the speed deviation signal passes through the speed controller, the electromagnetic torque T before compensation is obtained e * . The compensated electromagnetic torque T is obtained by subtracting the torque from the torque and observing the specific compensation shaft torque value fed back. e . figure 1 and fi...

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Abstract

The invention discloses a method for mechanical resonant restraint. The method comprises the following steps: getting a motor speed from a motor side sensor, computing to obtain an observed transmission shaft wheelbase Tg' by utilizing the motor speed; computing a wheelbase given signal Tg* by utilizing an output signal Te* of a speed controller; subtracting the observed transmission shaft wheelbase Tg' from the wheelbase given signal Tg* to obtain the wheelbase deviation; computing a compensation feedback value of an electromagnetic torque by utilizing the wheelbase deviation; compensating the output signal Te* of the speed controller by utilizing the compensation feedback value of the electromagnetic torque, and outputting an electromagnetic torque signal Te obtained after compensating to the motor side. According to the method, the wheelbase oscillation information on the transmission shaft cannot be transferred to the motor side, thereby achieving the aim of restraining gap resonance. The invention further discloses a device for mechanical resonant restraint.

Description

technical field [0001] The invention belongs to the technical field of mechanical resonance suppression of a transmission system, and in particular relates to a method and device for suppressing mechanical resonance of a dual-inertia elastic system with gaps based on a shaft moment observer. Background technique [0002] In the mechatronic servo system, the driving part (motor) and the driven part (load) are often not in direct contact, but are driven by gears or leadscrews, which inevitably creates a gap. Due to the limited stiffness of the transmission in the actual system, especially in the case of a slender transmission shaft, mechanical resonance will be induced, and the gap nonlinearity will further aggravate the mechanical resonance. Gap nonlinearity will not only increase the static error of the system, but also affect the dynamic quality of the system, making the transition time of the system longer under the action of the unit step signal. If the influence of the ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/05H02P21/13
Inventor 杨明郑伟龙徐殿国
Owner 国创机器人创新中心(哈尔滨)有限公司