Improved DOB and torque high-pass filter based elasticity connection transmission system torsional oscillation inhibiting method

Abstract

The invention discloses an improved DOB and torque high-pass filter based elasticity connection transmission system torsional oscillation inhibiting method which comprises the following steps: measuring the rotation speed of a motor and in the process of speed measurement, adding a low-pass filter; using measured torque current and rotation speed measured value to observe obtained torque through the improved DOB; multiplying torque current by a current torque ratio coefficient to obtain a magnetic torque added by what is obtained through the multiplying of the rotation speed measured value by a motor inertia in the observer and subtracted by what is obtained through the multiplying of the rotation speed measured value by a motor inertia after a second low pass filter; and taking the obtained torque observed by an improved DOB as electromagnet torque feedback amount through the high pass filter and feedback gain which goes back to a system to finely tune the electromagnet torque and achieves the effect of torsional oscillation inhibiting. The method can better balance the effect of torsional oscillation inhibiting and dynamic following performance, which effectively inhibits noises in rotation speed measurement. The method further does not have high requirements on model parameters, nor is sensitive about the change in load inertia. With high reliability, the method can be easily performed.

Description

technical field [0001] The invention relates to a method for suppressing torsional vibration of an elastic connection transmission system, in particular to a method for suppressing torsional vibration of an elastic connection transmission system based on an improved DOB (disturbance observer, disturbance observer) and high-pass filter torque. Background technique [0002] High-performance servo systems are widely used in motion control, such as medical imaging equipment, robots, precision machine tools, etc. Because in the mechanical transmission part of the servo drive system, transmission devices such as transmission shafts, transmissions, and couplings are often used to connect the motor and the load, but the actual transmission device is not an ideal rigid body and has a certain degree of elasticity. When the bandwidth of the servo system covers the inherent mechanical resonance frequency of the actuator, the torsional vibration frequency signal cannot be effectively att...

AI Technical Summary

Problems solved by technology

At present, the passive torsional vibration suppression method based on the notch filter is widely used in commercial servo products, but there is a phase angle lag and the dynamic performance is not good. Since the notch filter is on the forward channel, the load change Ineffective torsional vibration caused by

Directly use the torque observer to fine-tune the electromagnetic torque given by the torque to suppress the torsional vibration. Although this method can effectively suppress the torsional vibration, it is sensitive to the parameters of the motor model, and the inaccurate parameters will easily lead to system instability.

Images