A Dual-Observer Resonance Suppression Method for Servo System
A resonance suppression and servo system technology, which is applied in the field of high-precision technical control of servo systems, can solve problems such as large algorithm calculations and unsuitability for resonance systems, and achieve the effects of avoiding second resonance, real-time observation, and reducing complexity
Active Publication Date: 2022-03-18
WUXI XINJIE ELECTRICAL
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Problems solved by technology
The controller method needs to change the structure of the controller, such as sliding mode controller, active disturbance rejection controller, etc. Most of these methods are used in single inertia systems and the algorithm has a large amount of calculation, so they are not suitable for resonant systems
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[0020] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention will be described in further detail below with reference to the accompanying drawings.
[0021] A dual-observer servo system resonance suppression method includes the following steps:
[0022] Step (1): collect the current and speed of the motor, and filter it with a low-pass filter;
[0023] Specifically, since the collected encoder position signal and motor current signal have quantization noise, low-pass filtering needs to be performed on them. Its low-pass filter is shown in formula (1). If the frequency of the filter is too low, more noise will be filtered out, but it will cause a large phase delay to the system and affect the stability of the system. However, if it is too large, it cannot filter out noise better, so the parameter selection of the filter should meet the needs of the industrial site.
[0024]
[0025] Among them, G(s)...
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The invention discloses a control method combining acceleration observation and disturbance observation, and relates to the field of high-precision technical control of servo systems. By low-pass filtering the collected current and speed, the Luenberger observer is used to observe the acceleration of the motor, and the observed acceleration is converted into current and negatively fed back to the current reference. In order to reduce the influence of the quantization noise of the observer on the system, the former Feed PI to adjust speed deviation. A torque disturbance observer is introduced in the resonant system to observe the disturbance torque and positively feed back to the current reference, which improves the dynamic response performance of the system and the anti-disturbance performance of the system, and adds a feedback adjustment coefficient to the torque disturbance observer to avoid cause a second resonance.
Description
technical field [0001] The invention belongs to the field of high-precision technical control of a servo system, and in particular relates to a method for suppressing resonance of a servo system with dual observers. Background technique [0002] In practical applications, the servo system is not directly connected to the motor and the load, but is connected through a coupling, a synchronous belt or a transmission shaft. And these devices have a certain degree of elasticity, which usually causes mechanical resonance. Mechanical resonance will not only produce noise pollution, but even affect the service life of the machine. In addition, sudden changes in load in industrial production will cause the speed to oscillate and even cause mechanical resonance, which will affect the machining accuracy. At present, the speed loop of the servo drive system mostly adopts PI control. If the servo system has high performance, the gain of the controller must be increased, but with high g...
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IPC IPC(8): H02P23/12H02P23/04
CPCH02P23/04H02P23/12H02P2205/07H02P2205/01
Inventor 白瑞林李文涛李新
Owner WUXI XINJIE ELECTRICAL