Rear self-adaptive input shaping method for vibration suppression of multi-axis servo system

Abstract

The invention discloses a rear self-adaptive input shaping method for vibration suppression of a multi-axis servo system. The method comprises the following steps: collecting a signal of an acceleration sensor when the flexible tail end of a multi-axis servo system stops in a track; determining the number of pulses input into a shaper; filtering the acceleration sensor signal, and writing into a tap input vector form; performing variable initialization, and applying a self-adaptive iterative algorithm to iteratively solve an optimal input shaper coefficient vector; and performing convolution operation on the optimal input shaper obtained by optimization and an original trajectory to obtain a new shaping trajectory, and inputting the shaping trajectory into the multi-axis servo system to realize effective suppression of residual vibration of the flexible tail end. According to the method, the tedious process of calculating the inherent frequency and the damping ratio of the system through a traditional input shaper is omitted, and the inhibition effect on the residual vibration is not affected by the inaccuracy of the inherent frequency and the damping ratio.

Description

technical field [0001] The invention relates to the technical field of motion control, in particular to a post-adaptive input shaping method for multi-axis servo system vibration suppression. Background technique [0002] In the process of industrial automation production and processing, various multi-axis servo systems are often used, such as CNC machine tools, 4-axis robots, 6-axis robots, etc. In the specific task requirements, the end of the multi-axis servo system needs to be installed with specific actuators. At the same time, due to the inherent flexibility of the actuator, there will be a long period of residual vibration when the end stops. This phenomenon will be more obvious in the case of emergency stop of high-speed movement of multi-axis servo system, which seriously reduces the positioning accuracy of the end effector, prolongs the waiting time for positioning, and greatly reduces the work efficiency in the batch automation process. [0003] The input shaper ...

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Problems solved by technology

[0005] In order to solve the problem that the parameter identification of the traditional pre-input shaper is difficult and the modal parameters of some multi-axis servo systems cannot be accurately identified as the pose changes, the present invention provides a post-input shaper with an adaptive forgetting factor , install an acceleration sensor on the end effector of the multi-axis servo system, take the collected residual vibration acceleration signal as input, input the optimal coefficient vector of the shaper as output, design an iterative optimization algorithm, and then input the shaper coefficient vector according to the cost function The gradient vector design adaptive forgetting factor update algorithm, improve the tracking performance of the algorithm in the optimization process, and then improve the vibration suppression effect of the input shaper

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