A method and system for suppressing vibration of a mechanically moving structure

Abstract

The invention discloses a method and system for suppressing the vibration of a mechanical motion structure. The method comprises the steps of (1) calculating an optimal jerk time of an S control curveof the mechanical motion structure, (2) setting a continuous input shaper based on a natural frequency and a damping ratio of a control system and discretizing the continuous input shaper according to a servo period, (3) calculating an actual jerk time of the S control curve with the consideration of a time lag of the continuous input shaper, (4) discretizing the S control curve based on the servo period and generating a current period control instruction, and (5) applying the discretized continuous input shaper in the step (2) to carry out discrete convolution on the current period control instruction, and taking a result as a control command of the servo motor. According to the method and the system, a phenomenon of high-speed running vibration aggravation generated in general input shaping is avoided, based on original control, the adding of hardware equipment is not needed, and the cost is saved.

Description

technical field [0001] The invention relates to the technical field of mechanical control, and more specifically, to a method and system for suppressing vibration of a mechanical moving structure. Background technique [0002] Motor-driven mechanical motion structures including industrial robots, CNC machine tools, and CNC mechanical structures have requirements for high speed, high precision, and high stability. Due to the existence of transmission components such as reducers or pulleys, mechanical motion structures usually have a certain degree of flexibility. During low-speed operation and start and stop stages, the end of the mechanical movement structure will vibrate. The vibration of the mechanical structure will not only reduce the response speed of the system to commands, but also increase the waiting time between processes, reducing production efficiency and precision. Therefore, effective measures must be taken to suppress the vibration of the mechanical moving s...

AI Technical Summary

Problems solved by technology

However, these control methods have shortcomings

Using methods such as increasing system damping and increasing structural rigidity will increase the overall weight of the system, increase the energy consumption of the system, and easily affect the response speed of the system

Using the PID control method requires changing the control structure of the system and adding sensor equipment, which increases the complexity of the control system and increases the control cost

Ordinary input shaping usually increases the time lag of the system and reduces the response speed of commands

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