Method and system for changing instruction planning frequency in real time to suppress vibration

Abstract

This application relates to a method and system for suppressing vibration by changing the command planning frequency in real time, wherein the method includes: obtaining the command planning; estimating the corresponding frequency components according to the command planning; adaptively adjusting the time of the command planning according to the frequency components and the resonance frequency of the system axis to alter the frequency content and avoid resonant frequencies. After obtaining the command plan for filtering the system, the application uses an adaptive frequency estimator to estimate the frequency component corresponding to the command plan, so as to adaptively adjust the time axis of the command plan according to the frequency component and the resonance frequency of the system to change The frequency component of command planning avoids the resonant frequency, so as to filter the system and suppress vibration, and will not cause any deformation to the trajectory profile of command planning, further reducing the resonance amplitude and convergence time of the system.

Description

technical field [0001] The present application relates to the technical field of automatic control, in particular to a method and system for suppressing vibration by changing command planning frequency in real time. Background technique [0002] With the increasingly widespread application of AC servo systems, the end-effectors are often required to have strong rapid positioning capabilities during automated assembly and processing on industrial production lines. However, due to the flexible connection of the end effector, it causes long-term residual vibration after the end of the movement, and it is more obvious in the case of high-speed and high-acceleration movement, which greatly reduces the positioning accuracy and speed of the end effector, and even affect the stability of the control system. [0003] Aiming at the above-mentioned mechanical resonance problem, in a conventional solution, the bandwidth of the closed-loop system is reduced by adding a notch filter in t...

AI Technical Summary

Problems solved by technology

However, due to the flexible connection of the end effector, it causes long-term residual vibration after the end of the movement, and it is more obvious in the case of high-speed and high-acceleration movement, which greatly reduces the positioning accuracy and speed of the end effector, and even affect the stability of the control system

[0003] For the above-mentioned mechanical resonance problem, in the conventional solution, the bandwidth of the closed-loop system is reduced by adding a notch filter in the feedback control loop, but at the same time, the fast response capability of the system will also be reduced

In addition, the scheme of input command filtering can also be used. Although this scheme will not affect the stability of the closed-loop system, it will bring problems of command trajectory deformation and time lag.

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