A 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 a robot device. The vibration suppression method includes: acquiring the number of sampling points in each time domain window in the control system and the speed corresponding to each sampling point Sampling value; judge whether the control system vibrates according to the number of the sampling points and all the speed sampling values; when the control system vibrates, obtain the vibration component of the corresponding time domain window; eliminate the vibration component in the control system according to the vibration component vibration. The above-mentioned vibration suppression method directly processes the time-domain signal, the amount of online calculation is small, and the vibration can be detected without knowing the system model. Delays cause problems that destabilize the system.

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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