Servo system tail end residual vibration suppression method based on model tracking control

Abstract

The invention provides a servo system tail end residual vibration suppression method based on model tracking control. The method is characterized by on the basis of a traditional input shaping method,adding the self-adjusting parameter model tracking control, and designing a compensation controller to effectively suppress the errors caused by system parameter changes; and when the actual model parameters of the system deviate from the ideal model parameters, searching the optimization parameters of a compensation controller in model tracking control by using a golden section method. The method has the advantages that on the basis of the input shaping method, the self-adjusting parameter model tracking control is added, and the vibration caused by the system parameter changes is restrainedby optimizing the parameters of the compensation controller; and when the system model parameters change to different degrees, the golden section method is used for searching the optimization parameters of the compensation controller in model tracking control, so that the method is suitable for a large-range frequency vibration condition, and the robustness of the system is enhanced.

Description

technical field [0001] The invention relates to the technical field of vibration control, in particular to a method for suppressing residual vibration at the end of a servo system based on model tracking control. Background technique [0002] In order to achieve high load ratio performance, some elastic connection devices are often used in servo systems (such as image 3 As shown, it is a typical double inertia mechanical transmission model), these elastic devices will cause hysteresis error in position transmission, when the servo system stops suddenly from high speed to locate the target position, strong chattering phenomenon will occur at the end of the load , affecting the stability and fast positioning performance of the servo system. [0003] The input shaping method is to convolve the input signal with a series of pulse signals, so as to modify it to obtain the shaped signal input system to suppress the vibration at the end of a certain frequency. The input shaping te...

AI Technical Summary

Problems solved by technology

[0010] Deficiencies in the existing technology: In the repetitive servo system, when the system model parameters have deviations, the existing method cannot quickly suppress the terminal vibration

[0011] As a feedforward control, the input shaping method can suppress the vibration before the error occurs, but when the parameters change in a large range, the vibration suppression effect of the input shaper is poor, and the constant adjustment of the shaper parameters during the operation needs to sacrifice the response of the system time, the vibration suppression speed becomes slower

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