Online resonance suppression method based on extended state observer and improved wave trap

Abstract

The invention relates to an on-line resonance suppression method based on an extended state observer and an improved wave trap. The method comprises the following steps in sequence: establishing a double-inertia transmission device model; adding a second-order expansion state observer on the basis of the double-inertia transmission device model; the method comprises the following steps: adding an improved notch filter on the basis of a double-inertia transmission device model added with a second-order extended state observer to obtain an improved notch center frequency, an improved notch bandwidth, an improved notch depth and a resonant frequency f0; and inputting the resonant frequency f0 into the improved notch filter for online resonance suppression. The second-order extended state observer can estimate external interference and uncertainty in real time, control signals are compensated, and the anti-interference capability of the system is improved; the improved notch filter can effectively work in the full frequency band, and the phenomenon that when the center notch frequency is close to the Nyquist frequency, the notch filter becomes inaccurate is avoided.

Description

technical field [0001] The invention relates to the technical field of AC servo control systems, in particular to an on-line resonance suppression method based on an expanded state observer and an improved notch filter. Background technique [0002] Servo system is a key part of intelligent equipment, and its control accuracy and stability directly restrict the performance improvement of the entire system. The inherent characteristics of the transmission mechanism of the AC servo system will cause the phenomenon of mechanical resonance, resulting in a serious decrease in the stability of the speed and torque, which greatly affects the control quality. Therefore, it is of great significance to study the vibration suppression method of industrial servo system for improving the performance of intelligent equipment. [0003] The traditional disturbance observer suppresses the external disturbance by observing the disturbance amount of the loop, and collects the electromagnetic ...

AI Technical Summary

Problems solved by technology

However, for the low-frequency vibration phenomenon of the dual-inertia system, due to the influence of the rigidity coefficient and the system inertia ratio, the system flexibility characteristics are intensified, the disturbance composition is more complex, and the motor speed is inconsistent with the load speed, resulting in a large-scale low-frequency oscillation of the load

The structure of traditional disturbance observers cannot take into account the influence of dynamic changes in servo system parameters, which makes the observer unable to adapt to internal disturbances such as changes in motor inertia, which has certain limitations

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