Two-mass system resonance suppression method

Abstract

The invention discloses a two-mass system resonance suppression method. Two-mass system resonance is suppressed by adopting a method of increasing a motor shaft end equivalent viscous damping force. The method comprises the steps of firstly multiplying a difference value between the motor rotating speed and the load end rotating speed by an equivalent damping compensation coefficient so as to generate a motor shaft end equivalent viscous damping force; then dividing the equivalent damping force by a torque constant so as to be converted into equivalent damping compensation current, and applying the equivalent damping compensation current to subtraction of current instructions. Meanwhile, the equivalent viscous damping force, which needs to be added to the motor shaft end, is enabled to be associated with the resonant amplitude of the system, thereby establishing a corresponding adaption law, automatically adjusting the equivalent damping compensation coefficient, and achieving an effect of adaptive resonance suppression. The two-mass system resonance suppression method is easy for engineering implementation, parameters are easy to adjust, and a purpose of adaptive resonance suppression can be achieved.

Description

technical field [0001] The invention relates to a method for suppressing resonance of a two-mass system. Background technique [0002] The mechanical part of the servo system mainly includes three parts: the servo motor, the elastic connection and the load. Neglecting the inertia of the elastic coupling or combining it with the motor and load inertia can be equivalent to a motor-load two-mass system (such as figure 1 shown). Due to the lack of rigidity of the elastic coupling part, the resonance phenomenon generally exists in the two-mass system, which affects the control accuracy of the system. For the suppression of the resonance of the two-mass system, there are the following methods: observer-based control, filter-based control, H∞ control, resonance ratio control, and intelligent control. Among the above methods, based on the observer method and resonance ratio control, it is necessary to establish a fast torque observer, which is difficult to realize considering fac...

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Problems solved by technology

[0005] Among the three patents appealed, the first two patents are suitable for suppressing the vibration phenomenon at the load end, but not applicable to the resonance phenomenon at the motor side during system operation

The third patent needs to establish a torsional stiffness hysteresis model, and the engineering implementation is more complicated

At the same time, the starting point of the invention is to reduce the system accuracy problem caused by the hysteresis characteristics of the torsional stiffness of the harmonic reducer. This algorithm is not suitable for resonance suppression

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