Mechanical resonance inhibition method of servo control system
A technology of servo control system and mechanical resonance, which is applied in the direction of observer control, motor vibration suppression control, etc., can solve problems such as complex engineering application, decreased control performance, and poor robustness to external disturbances, and achieve low-frequency mechanical resonance suppression and simple implementation , Improve the effect of servo control performance
Active Publication Date: 2017-05-10
BEIJING INST OF SPECIALIZED MACHINERY
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Problems solved by technology
The notch filter is sensitive to system parameter changes and will lead to a decrease in control performance; although the traditional PI controller combined with acceleration feedback can effectively reduce the impact of mechanical resonance, the PI controller is less robust to external disturbances
The control system generally adopts a servo driver + position full-closed-loop controller architecture, but the common servo drivers on the market do not have these two functions. Designers need to develop or customize the servo driver themselves, and the engineering application is more complicated.
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[0018] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0019] Such as figure 1 As shown, the motor M, the transmission mechanism, and the actuator L of the servo control system form a typical dual-inertia mechanical transmission system. The motor M and the actuator L are connected through a transmission mechanism, and the stiffness of the transmission mechanism is K g . When the transmission mechanism is twisted and deformed, a torque T will be generated w , this torque can be regarded as the load torque of the motor M for the motor M, and it can be regarded as the driving torque for the actuator L. The motor servo driver controls the operation of the motor M and provides electromagnetic torque T for the shaft of the motor M e . At the end of the motor M, the electrom...
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The invention relates to a mechanical resonance inhibition method of a servo control system, and belongs to the technical field of motor servo control. On the basis of a traditional three-loop (a position loop, a speed loop and a current loop) control system of a servo motor, a four-loop control structure is designed for solving a mechanical resonance problem in the servo control system, position full-closed-loop control of an execution mechanism is added to form a four-loop control structure, a position full closed loop uses a self anti-interference control algorithm, and low-frequency mechanical resonance of the system can be inhibited effectively. Compared with a trap filter method and an acceleration feedback method at present, The mechanical resonance inhibition method of the invention does not change a control algorithm of a servo driver, general motor servo drivers in the present market can be used, engineering application is easy to realize, the low-frequency mechanical resonance of the system can be inhibited effectively, and the servo control performance is improved.
Description
technical field [0001] The invention relates to the technical field of motor servo control, in particular to a method for suppressing mechanical resonance of a servo control system. Background technique [0002] The mechanical transmission part of the servo control system often uses transmission devices such as transmission shafts, reducers, and couplings to connect the motor and the load. However, the actual transmission device is not an ideal rigid body and has certain elasticity, which usually causes mechanical resonance in the system. Mechanical resonance will emit noise and form noise pollution, which will cause serious damage to the mechanical transmission device, affect its service life, limit the bandwidth of the control system, and even cause the closed-loop control system to be unstable. [0003] There are two commonly used mechanical resonance suppression methods: the notch filter method and the acceleration feedback method. The notch filter is sensitive to syste...
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Login to View More IPC IPC(8): H02P23/04H02P23/12
CPCH02P23/04H02P23/12
Inventor 张慧勇巫伟男
Owner BEIJING INST OF SPECIALIZED MACHINERY