Method for on line identifying and dynamically inhibiting resonance of electromechanical servo system

An electromechanical servo system and resonance technology, applied in the field of electromechanical servo systems, can solve the problems of consuming manpower and material resources, endangering electromechanical servo systems, and poor reliability of electromechanical servo systems, so as to save manpower and material resources and ensure reliability.

Active Publication Date: 2015-02-18
HARBIN INST OF TECH
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0004] The present invention aims to solve the problem that the mechanical resonance of the existing electromechanical servo system endangers the electromechan

Method used

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  • Method for on line identifying and dynamically inhibiting resonance of electromechanical servo system
  • Method for on line identifying and dynamically inhibiting resonance of electromechanical servo system
  • Method for on line identifying and dynamically inhibiting resonance of electromechanical servo system

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specific Embodiment approach 1

[0019] Specific implementation mode one: refer to image 3 Specifically illustrate the present embodiment, the electromechanical servo system resonance online identification and dynamic suppression method described in the present embodiment, it comprises the following steps:

[0020] Step 1. Using sliding DFT to carry out resonance identification on the signal output by the controller of the electromechanical servo system. When there is resonance, select the data in N sliding windows in the time domain of the output signal, and convert it through sliding DFT to obtain N spectral values, turn to step 2, when there is no resonance, the method ends;

[0021] Step 2. Obtain the maximum value H of the amplitude from the N spectrum values max , the maximum amplitude H obtained from the N spectrum values max with the set threshold H th Compare and judge H max Is it greater than the threshold H th , if H max is greater than the threshold, then the maximum value of the amplitude ...

specific Embodiment approach 2

[0025] Specific embodiment 2: This embodiment is to further explain the resonance online identification and dynamic suppression method of the electromechanical servo system described in the specific embodiment 1. In this embodiment, the sliding DFT is used in step 1 to output The signal is resonantly identified, and the process of obtaining N spectrum values ​​is as follows:

[0026] According to the fast Fourier transform formula:

[0027] X ( k ) = Σ n = 0 N 2 - 1 x ( 2 n ) W N 2 nk + W N k Σ n ...

specific Embodiment approach 3

[0037] Specific embodiment three: This embodiment is to further explain the electromechanical servo system resonance online identification and dynamic suppression method described in specific embodiment one. suppressed until the resonance amplitude decays to the threshold H th The following process is:

[0038] Decrease the resonance amplitude to the threshold H th The required attenuation amplitude is recorded as ξ is the depth, then at the resonant frequency point f 0 Take points one by one from both sides as the benchmark, set f 0 The spectrum values ​​corresponding to the frequency points on both sides are compared with the set threshold until finding a value less than or equal to the threshold H th The frequency point corresponding to the amplitude of , which is taken as f 1 and f 2 , according to the formula k=2max{(f 0 -f 1 ),(f 2 -f 0 )} to obtain the resonant width k, select the depth ξ and width k as the gradient adjustment to adjust the parameters, set th...

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Abstract

The invention relates to a method for on line identifying and dynamically inhibiting the resonance of an electromechanical servo system, relating to the field of electromechanical servo systems and aiming at solving the problems that the existing electromechanical servo system is poor in reliability caused by being damaged by mechanical resonance and wastes manpower and material resources in a maintaining process. The method comprises the steps of analyzing a signal spectrum output from a controller of the electromechanical servo system to obtain N spectrum values; comparing an obtained maximal amplitude value Hmax with a set threshold value Hth, inhibiting by adopting a notch filter method if the Hmax is more than the threshold value Hth and resonance frequency is 1.5 times higher than cross-over frequency till a resonance amplitude value is attenuated to be less than the threshold value Hth, and meanwhile, detecting the change of a phase angle at shearing frequency; if the resonance frequency is 1.5 times lower than the shearing frequency or the loss of the phase angle at the shearing frequency regulated by using a notch link is already more than 10 degrees, gradually transferring the shearing frequency forwards at the step size of h rad/s, and identifying a signal output from the controller of the electromechanical servo system again so as to inhibit the resonance. The method disclosed by the invention can be used for the electromechanical servo system.

Description

technical field [0001] The invention relates to a method for on-line identification and dynamic suppression of electromechanical servo system resonance. It belongs to the field of electromechanical servo system. Background technique [0002] Resonance identification in the prior art mainly utilizes Fast Fourier Transform (FFT) to detect resonance signals. This method can meet the offline detection of resonance in most cases, but it is difficult to be used for online resonance signals due to the large amount of calculation. For identification and detection, especially for highly dynamic servo systems, its real-time performance is difficult to meet. [0003] In the prior art, the resonance suppression of the servo system mainly uses the traditional notch filter. The design and adjustment of this notch filter can only be carried out offline. During the debugging process, it is necessary to manually adjust its parameters repeatedly, which is time-consuming strenuous. In addit...

Claims

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Application Information

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IPC IPC(8): H02P21/14
Inventor 陈松林陈思源李明
Owner HARBIN INST OF TECH
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