Vibration suppression method, vibration suppression system, vibration suppression device and robot equipment

Abstract

The invention discloses a vibration suppression method, a vibration suppression system, a vibration suppression device and robot equipment. The vibration suppression method comprises the steps of obtaining the number of sampling points in each time domain window in a control system and a speed sampling value corresponding to each sampling point; judging whether a control system vibrates or not according to the number of the sampling points and all the speed sampling values; when the control system vibrates, acquiring a vibration component of a corresponding time domain window; and eliminatingvibration in the control system according to the vibration component. According to the vibration suppression method, time domain signals are directly processed, the online calculated amount is small,vibration can be detected without knowing a system model, vibration suppression can be achieved under the condition that phase delay is not introduced, and therefore, the problem that the stability ofthe system is damaged due to the fact that extra phase delay is generated can be solved.

Description

technical field [0001] The invention relates to the technical field of vibration detection, in particular to a vibration suppression method, a vibration suppression system, a vibration suppression device and robot equipment. Background technique [0002] Due to factors such as mechanical design, reducer, and load changes, there will be low-frequency jitter in certain application scenarios for the body of the six-axis industrial robot in series. Compared with the typical values ​​of 1kHz for the position loop of the drive, 4kHz for the speed loop, and 16kHz for the current loop, the low-frequency jitter of 5Hz to 15Hz is difficult to filter out by inserting a notch filter in the three-loop, because the IIR notch filter may cause The phase delay phenomenon of other frequency points leads to system instability. [0003] Robot low-frequency jitter is a problem faced by all major robot manufacturers, and there are many ways to deal with this problem. At the driver level, the no...

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Problems solved by technology

However, in practice, the application of notch filters can effectively filter out high-frequency vibration components, but for low-frequency vibrations of 5 to 15 Hz, not only the vibration suppression effect is not good, but also the system is unstable

like figure 1 Shown is a schematic diagram of the vibration suppression effect of a typical robot system vibration suppression notch filter, the notch can be applied in the position loop, speed loop and current loop error or command filtering, after the discretization and digitization of the controller, the filtering The amplitude-frequency characteristics of the observer will be changed, and a phase delay will be introduced in the loop at the same time, resulting in possible performance attenuation or non-convergence of the response of the system; although the observer has a perfect mathematical form in control theory, it is limited by the actual Engineering, it is difficult to establish a system matrix and observer model, and it is always difficult to popularize in application; adjusting PID can not completely eliminate vibration, but will cause damage to the high-speed response of the system

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