Method of Suppressing Servo Resonance Based on Notch Filter Based on Center Frequency Asymmetry
A technology of notch filter and center frequency, which is applied in the direction of instruments, adaptive control, and general control systems, etc., can solve problems such as mechanical resonance noise pollution, servo system bandwidth reduction, and stability degradation, so as to eliminate negative effects and improve The effect of the resonance suppression effect
Active Publication Date: 2021-05-28
TIANJIN UNIV
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Problems solved by technology
[0002] The mechanical transmission part of the servo system often uses transmission devices such as screw, reducer, and coupling to connect the servo motor and the load, but the actual transmission device is not an ideal rigid body, and it has a certain degree of flexibility, which makes the servo system prone to resonance
In addition to causing noise pollution, mechanical resonance will also cause serious damage to the mechanical transmission device and affect its service life; in addition, it will also restrict the stability and adjustability of the closed-loop control
The method of suppressing the resonance of the servo system is to increase the stiffness of the transmission part. Since most machine tools currently use the three-loop control mode, many manufacturers choose to reduce the proportional gain of the speed loop to suppress the resonance of the servo system. This method is obvious. The disadvantage is that the bandwidth of the servo system is reduced, and the stability of the system in the high frequency part is seriously reduced.
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[0050] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0051] A method for suppressing servo resonance based on a center frequency asymmetrical notch filter of the present invention specifically includes the following steps:
[0052] Step 1. Calculate the absolute average value E(ω) output after the acceleration signal of the servo system is filtered by a high-pass filter and a band-pass filter in sequence:
[0053]
[0054] Among them, a(t) represents the acceleration signal of the servo system, HPF(a(t)) represents the output value of the acceleration signal after passing through the high-pass filter, and BPF[HPF(a(t))] represents the acceleration signal after the high-pass filter The output value after the device and the band-pass filter, t represents each integration moment of the acceleration signal; ZONE represents the entire integration interval of the acceleration signal; ω represents th...
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The invention discloses a method for suppressing servo resonance based on a center frequency asymmetrical notch filter, step (1), calculating the absolute average value E( ω), identify the resonant frequency ω of the servo system b ; Step (2), according to E(ω) curve and resonance frequency ω b Calculate the initial value of the relevant parameter in the center frequency asymmetry notch filter transfer function; Step (3), set the notch filter in the servo system, realize the resonance suppression function of the notch filter; Step (4), if This notch filter resonance suppression effect is not good, then use differential evolution algorithm to further optimize the parameter of notch filter transfer function, draw the optimal solution of notch filter transfer function parameter; Step (5), will obtain The parameter optimization results are applied to the servo system to achieve the best resonance suppression. The invention obtains a better resonance suppression effect, and has great significance for realizing the suppression of servo resonance.
Description
technical field [0001] The invention relates to the technical field of servo resonance suppression, in particular to a method for suppressing servo resonance by using a notch filter. Background technique [0002] The mechanical transmission part of the servo system often uses transmission devices such as screw, reducer, and coupling to connect the servo motor and the load, but the actual transmission device is not an ideal rigid body, and it has a certain degree of flexibility, which makes the servo system prone to resonance . In addition to causing noise pollution, mechanical resonance will also cause serious damage to the mechanical transmission device and affect its service life; in addition, it will also restrict the stability and adjustability of the closed-loop control. The method of suppressing the resonance of the servo system is to increase the stiffness of the transmission part. Since most machine tools currently use the three-loop control mode, many manufacturers...
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IPC IPC(8): G05B13/02H03H17/02
CPCG05B13/024H03H17/025
Inventor 王国锋桑玲玲杨凯董毅钟才川安华
Owner TIANJIN UNIV