A Method for Suppressing Resonance of Two-mass System

Abstract

The invention discloses a two-mass system resonance suppressing method, which suppresses the two-mass system resonance by increasing the equivalent viscous damping force of the motor shaft end. First, the difference between the motor speed minus the load end speed is multiplied by the equivalent damping compensation coefficient to generate the equivalent viscous damping force at the motor shaft end; then the equivalent damping force is divided by the torque constant to convert it into an equivalent damping compensation The current is subtracted from the current command. At the same time, the equivalent viscous damping force that needs to be added to the motor shaft end is related to the resonance amplitude of the system, and the corresponding adaptive law is established to automatically adjust the equivalent damping compensation coefficient to achieve the effect of adaptive resonance suppression. It is easy to implement in engineering, and the parameters are easy to adjust, so that the 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 above three patents, 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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