Used for servo system resonance suppression, trap parameter optimization method, system and medium

Abstract

Resonance suppression and notch parameter optimization methods for servo systems, a system and a medium are provided. The notch parameter optimization method comprises the following steps: obtaining an amplitude threshold corresponding to the maximum resonance frequency of a servo system under the condition of no mechanical resonance; determining the equation of a filter coefficient, wherein the filter coefficient is the coefficient of a difference equation corresponding to the transfer function of a notch; optimizing a ratio according to a preset sampling frequency, a rotational speed difference set obtained by the sampling frequency, the amplitude threshold and the equation of the filter coefficient, wherein the ratio is the ratio of a first notch parameter to a second notch parameter; and finally, optimizing the first notch parameter and the second notch parameter according to the optimized ratio, the sampling frequency, the rotational speed difference set, the amplitude threshold and the equation of the filter coefficient. Thus, optimized notch parameters are obtained. An automatic notch parameter setting scheme is presented. The notch parameters can be adjusted continuously based on the amplitude threshold, and the notch parameters can be set efficiently.

Description

technical field [0001] The invention relates to the technical field of mechanical control, in particular to a method, system and medium for suppressing mechanical resonance of a servo system. Background technique [0002] The servo system is a feedback control system used to accurately follow or reproduce a certain process, and an automatic control system that enables the output controlled quantities such as the position, orientation, and state of an object to follow any change in the input target (or given value). A typical servo system consists of a control unit, a power drive device, a servo motor and a feedback device. The control unit mainly implements various control algorithms to meet the required control performance and functions; the power drive device converts electrical energy into motor kinetic energy according to the control characteristics. , The servo motor is an engine that controls the operation of mechanical components, and the feedback device uses a positi...

AI Technical Summary

Problems solved by technology

[0004] When the inventor implemented the mechanical resonance suppression of the servo system, he found that a notch filter was inserted in series between the speed loop and the current loop of the servo drive system, thereby reducing the gain at the resonance frequency and achieving the effect of suppressing mechanical resonance. Using the notch filter It is necessary to determine the notch parameters beforehand. The notch parameters will determine the performance of the notch filter. Good parameters can enable the notch filter to suppress resonance. Bad parameters will reduce the stability of the servo system and affect the normal operation of the motor.

The notch filter can be divided into two-parameter notch filter and three-parameter notch filter according to the different notch parameters. The notch parameters that need to be determined before using the two-parameter notch filter are center frequency and notch bandwidth. The notch parameters that need to be determined before the filter include center frequency, notch bandwidth and notch depth. Although the parameters of the two-parameter notch filter are few and easy to adjust, it will introduce a large phase lag and poor stability. The methods include manual setting and automatic calculation. At present, it will take a certain amount of time and energy for technicians to manually set the notch filter. If the notch parameters are determined by automatic calculation, it is easy to choose an inappropriate algorithm. The calculation speed is slow, the calculated parameters are inaccurate, etc.

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