Vibration suppression method and device, servo driver and servo driving system

Abstract

The invention relates to a vibration suppression method and device, a servo driver and a servo driving system.The method is applied to the servo driver, and the method comprises the steps that when the servo driver drives a servo motor with a harmonic speed reducer to work, the harmonic speed reducer drives the servo motor to work; determining a current compensation value according to a position difference between a rotor position feedback value of the servo motor and the position instruction; the current compensation value is applied to a current regulator in the servo driver, so that the current regulator controls the servo motor according to the current compensation value, the current feedback value and the current instruction, and resonance caused by the harmonic speed reducer is restrained. According to the vibration suppression method, when the servo motor and the harmonic speed reducer resonate to generate vibration, resonance is effectively suppressed in a current compensation mode, the response speed is high, the lag time is short, the compensation effect is independent and controllable, the stability is better, and the vibration suppression method is not influenced by other regulator parameters.

Description

technical field [0001] The invention relates to the technical field of electromechanical control, in particular to a vibration suppression method, a computer-readable storage medium, a servo driver, a vibration suppression device and a servo drive system. Background technique [0002] In places where the space is limited, such as mechanical arms, a harmonic reducer is usually used to achieve deceleration and torque amplification. Due to the unique mechanical structure of the harmonic reducer, the reduction device has a low-frequency vibration. When the motor rotation frequency is at the natural frequency of the reduction device When it is nearby, it will excite resonance and cause speed fluctuations, which will affect the command followability of the manipulator. This effect is particularly prominent in the occasion where trajectory tracking is required. [0003] In the related art, in order to suppress resonance, it is proposed that when the position command and position fe...

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Problems solved by technology

[0003] In the related art, in order to suppress resonance, it is proposed that when the position command and position feedback deviate, the position regulator generates a speed regulation command to the speed regulator, and the speed regulator generates a current regulation command to the current regulator, but this process There is a large hysteresis, the resonance cannot be effectively suppressed, and it depends on the parameters of each regulator, and the suppression effect is not good

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