S-shaped method for inhibiting multi-modal residual vibration of system and system

A residual vibration, multi-modal technology, applied in general control systems, control/regulation systems, digital control, etc., can solve problems such as low speed, difficult to precise position, instability, etc., to achieve vibration suppression, cost saving, robustness high sex effect

Pending Publication Date: 2019-12-24
SHENZHEN COLIBRI TECH
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Problems solved by technology

[0005] The purpose of the present invention is to provide an S-type method for suppressing multi-mode residual vibration of the system, aiming to

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  • S-shaped method for inhibiting multi-modal residual vibration of system and system

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[0042] Such as figure 1 As shown, the method of suppressing the multi-modal residual vibration of the system based on the S-shape provided by the present invention is detailed as follows:

[0043] Step S1, obtain the multi-modal natural frequency ω of the mechanical system 1 , Ω 2 ,……Ω n ; In a mechanical motion driven by a driving device, the requirements for high speed, high precision and stability are very high. In the process of motion, the first step is to obtain the natural frequency ω under the multi-modality of the mechanical control system. 1 , Ω 2 ,……Ω n , The frequency obtained is different in each stage.

[0044] Step S2, establish a mathematical model for the seven-stage S-type speed planning problem; after obtaining the frequencies of each stage, according to the different frequencies obtained in each stage, establish a seven-stage S-type speed planning problem for the motion of the mechanical control system Mathematical model. In the establishment of the mathematica...

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Abstract

The invention is suitable for the field of motion control technology improvement, and provides an S-shaped method for inhibiting the multi-modal residual vibration of a system. Aiming at the problem that a motor can cause residual vibration of a mechanical system when being started and stopped, the control method provided by the invention inhibits the residual vibration of the system by planning amotion curve of the motor so that the motion curve does not contain frequency causing the residual vibration of the system, and the method capable of inhibiting the multi-modal residual vibration ofthe system can be proposed by a method for inhibiting the single-modal residual vibration of the system, so that the application range of the method is further expanded. The method for inhibiting themulti-modal vibration of the system by planning the time of the optimal acceleration is higher in robustness than a trapezoidal curve, is effective in a certain error range of the natural frequency ofthe system, is suitable for most motion controllers, and is cost-saving without adding other hardware equipment.

Description

technical field [0001] The invention belongs to the field of motion control technology improvement, in particular to an S-type method for suppressing multi-mode residual vibration of a system. 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 struc...

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349Y02T90/00
Inventor 张晓波夏飞扬
Owner SHENZHEN COLIBRI TECH
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