Vibration suppression method, device, motor controller, servo motor and robot
By performing phase compensation on the position control command after convolution filtering, a second position command signal for the target load is generated, which solves the phase delay problem caused by convolution filtering and ensures vibration suppression and tracking accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SUZHOU GAOCHUANG MOTION CONTROL TECHNOLOGY CO LTD
- Filing Date
- 2023-02-20
- Publication Date
- 2026-08-04
AI Technical Summary
In existing technologies, methods that suppress vibration by performing convolutional filtering on input commands can lead to phase delay and reduce position tracking accuracy.
By performing phase compensation on the position control command after convolution filtering, a second position command signal for the target load is generated, including determining the filtering parameters, performing convolution filtering, and phase compensation to reduce phase delay.
While achieving vibration suppression, position tracking accuracy was ensured.
Smart Images
Figure CN116094405B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motor control technology, and in particular to a vibration suppression method, device, motor controller, servo motor and robot. Background Technology
[0002] Industrial equipment often contains flexible loads. Due to the presence of flexible components such as springs and belts, these loads can cause low-frequency vibrations, affecting the equipment's stability. To address vibration suppression, some technologies employ convolutional filtering of the input command, which can effectively suppress vibration. However, this method introduces a phase delay in the input command, leading to increased position tracking errors and reduced tracking accuracy. Summary of the Invention
[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, the first objective of this invention is to propose a vibration suppression method that generates a second position command signal for position control of a target load by performing phase compensation on the position control command after convolution filtering, thereby achieving vibration suppression while ensuring tracking accuracy.
[0004] A second objective of this invention is to provide a computer-readable storage medium.
[0005] The third objective of this invention is to provide a motor controller.
[0006] The fourth objective of this invention is to provide a vibration suppression device.
[0007] The fifth objective of this invention is to provide a servo motor.
[0008] The sixth objective of this invention is to provide a robot.
[0009] To achieve the above objectives, a vibration suppression method is proposed according to a first aspect embodiment of the present invention, comprising: determining filtering parameters, and performing convolution filtering on a position control command according to the filtering parameters to generate a first position command signal; performing phase compensation on the first position command signal to obtain a second position command signal, wherein the second position command signal is used for position control of a target load.
[0010] According to the vibration suppression method of the present invention, filtering parameters are determined, and a position control command is convolved and filtered according to the filtering parameters to generate a first position command signal. The first position command signal is then phase-compensated to obtain a second position command signal. The second position command signal is used to control the position of the target load. By performing phase compensation on the first position command signal, the phase delay is reduced, thereby reducing the position tracking error. Vibration suppression is achieved while tracking accuracy is ensured.
[0011] According to one embodiment of the present invention, phase compensation of a first position command signal includes: differentiating the first position command signal to obtain a first velocity signal; filtering the first velocity signal using a filter to obtain a second velocity signal; proportionally adjusting the second velocity signal to obtain a phase compensation value; and superimposing the phase compensation value onto the first position command signal.
[0012] According to one embodiment of the present invention, the proportional coefficient for proportional adjustment of the second speed signal is in the range of 0-0.1.
[0013] According to one embodiment of the present invention, the filter is a low-pass filter.
[0014] According to one embodiment of the present invention, determining filtering parameters includes: determining a damping coefficient and a system vibration frequency; determining a first filtering coefficient based on the damping coefficient, and determining a second filtering coefficient based on the first filtering coefficient; and determining filtering parameters based on the system vibration frequency, the first filtering coefficient, and the second filtering coefficient.
[0015] According to one embodiment of the present invention, the filtering parameters are calculated according to the following formula: Among them, A i and t i Here, K is the filter parameter, and K is the first filter coefficient. ξ is the damping coefficient, T d =2π / ω d ω d Let G be the system vibration frequency, G be the second filter coefficient, and G = K + K 2 +…K n-1 .
[0016] According to one embodiment of the present invention, the first position command signal is calculated according to the following formula: X2=ΣX1·A i ·exp(-t i s), where X1 is the position control command, X2 is the first position command signal, and s is the complex frequency.
[0017] To achieve the above objectives, a computer-readable storage medium is provided according to a second aspect of the present invention, having stored thereon a vibration suppression program that, when executed by a processor, implements the vibration suppression method of any of the foregoing embodiments.
[0018] According to the computer-readable storage medium of the present invention, by executing the computer program of the above-described vibration suppression method, a second position command signal for position control of the target load is generated by performing phase compensation on the position control command after convolution filtering, thereby achieving vibration suppression while ensuring tracking accuracy.
[0019] To achieve the above objectives, a motor controller is provided according to a third aspect of the present invention, comprising: a memory, a processor, and a vibration suppression program stored in the memory and executable on the processor. When the processor executes the program, it implements the vibration suppression method of any of the foregoing embodiments.
[0020] According to an embodiment of the present invention, the motor controller executes a computer program for the above-described vibration suppression method through a processor, and generates a second position command signal for position control of the target load by performing phase compensation on the position control command after convolution filtering. This achieves vibration suppression while ensuring tracking accuracy.
[0021] To achieve the above objectives, a vibration suppression device is provided according to a fourth aspect of the present invention, comprising: a determining module for determining filtering parameters; a filtering processing module for performing convolution filtering processing on a position control command according to the filtering parameters to generate a first position command signal; and a compensation module for performing phase compensation on the first position command signal to obtain a second position command signal, wherein the second position command signal is used for position control of a target load.
[0022] According to an embodiment of the present invention, the vibration suppression device determines filtering parameters through a determining module, performs convolution filtering on the position control command according to the filtering parameters through a filtering processing module to generate a first position command signal, and performs phase compensation on the first position command signal through a compensation module to obtain a second position command signal. The second position command signal is used to control the position of the target load. By performing phase compensation on the first position command signal, the phase delay is reduced, thereby reducing the position tracking error. While achieving vibration suppression, the tracking accuracy is also guaranteed.
[0023] To achieve the above objectives, a servo motor is provided according to a fifth aspect embodiment of the present invention, including the motor controller or the vibration suppression device described above.
[0024] According to the embodiments of the present invention, the servo motor, by employing the above-mentioned motor controller or vibration suppression device, generates a second position command signal for position control of the target load by performing phase compensation on the position control command after convolution filtering, thereby achieving vibration suppression while ensuring tracking accuracy.
[0025] To achieve the above objectives, a robot comprising the aforementioned servo motor is provided according to a sixth aspect embodiment of the present invention.
[0026] According to the robot of the present invention, by employing the servo motor described above, and by performing phase compensation on the position control command after convolution filtering, a second position command signal for position control of the target load is generated, thereby achieving vibration suppression while ensuring tracking accuracy.
[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0028] Figure 1 This is a schematic flowchart of a vibration suppression method according to an embodiment of the present invention;
[0029] Figure 2 This is a control block diagram of a vibration suppression method according to an embodiment of the present invention;
[0030] Figure 3 This is a schematic flowchart of a vibration suppression method according to a specific embodiment of the present invention;
[0031] Figure 4 This is a system schematic diagram of a motor controller according to an embodiment of the present invention;
[0032] Figure 5 This is a schematic diagram of the structure of a vibration suppression device according to an embodiment of the present invention. Detailed Implementation
[0033] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.
[0034] The vibration suppression method, apparatus, storage medium, motor controller, servo motor, and robot of the present invention are described below with reference to the accompanying drawings.
[0035] Figure 1 This is a schematic flowchart of a vibration suppression method according to an embodiment of the present invention. Figure 1 As shown, the vibration suppression method includes the following steps:
[0036] S101, determine the filtering parameters, and perform convolution filtering on the position control command according to the filtering parameters to generate the first position command signal.
[0037] Specifically, such as Figure 2 As shown, the first position command signal X2 is obtained by performing convolution filtering on the position control command X1 according to the filtering parameters, based on the principle of active vibration suppression.
[0038] In some embodiments, determining the filtering parameters includes: determining the damping coefficient and the system vibration frequency; determining a first filtering coefficient based on the damping coefficient, and determining a second filtering coefficient based on the first filtering coefficient; and determining the filtering parameters based on the system vibration frequency, the first filtering coefficient, and the second filtering coefficient.
[0039] Specifically, the system vibration frequency can be determined based on the waveform output by the system. The first filter coefficient is calculated based on the damping coefficient and formula (1):
[0040]
[0041] Where K is the first filter coefficient, ξ is the damping coefficient, and n is a positive integer, and n≥2.
[0042] The second filter coefficient is determined based on the first filter coefficient and formula (2):
[0043] G = K + K 2 +…K n-1 (2)
[0044] Where G is the second filter coefficient.
[0045] Furthermore, in some embodiments, the filtering parameters are calculated according to the following formula (3):
[0046]
[0047] Among them, A i and t i T is the filter parameter. d =2π / ω d ω d Let be the system vibration frequency.
[0048] In some embodiments, such as Figure 2 As shown, the first position command signal is calculated according to the following formula (4):
[0049] X2=∑X1·A i ·exp(-t i s)(4)
[0050] Where X1 is the position control command, X2 is the first position command signal, and s is the complex frequency.
[0051] It should be noted that this embodiment uses discrete convolution filtering to filter the position control command. In practical applications, continuous convolution filtering can also be used to filter the position control command, and no specific limitation is made here.
[0052] In the above embodiments, by performing convolution filtering on the position control command, the filtering time can be arbitrarily set, thus obtaining a smoother first position command signal. However, this will cause a phase delay in the first position command signal, resulting in a larger position tracking error and reduced tracking accuracy.
[0053] S102, perform phase compensation on the first position command signal to obtain a second position command signal, wherein the second position command signal is used to control the position of the target load.
[0054] Specifically, such as Figure 2 As shown, although the first position command signal is relatively smooth, its phase delay results in poor tracking accuracy. Therefore, phase compensation is performed on the first position command signal to reduce the position tracking error.
[0055] In some embodiments, phase compensation of the first position command signal includes: differentiating the first position command signal to obtain a first velocity signal; filtering the first velocity signal using a filter to obtain a second velocity signal; proportionally adjusting the second velocity signal to obtain a phase compensation value; and superimposing the phase compensation value onto the first position command signal.
[0056] Specifically, such as Figure 2 As shown, the first position command signal X2 is differentiated to obtain the first velocity signal S1, and the first velocity signal S1 is filtered to obtain the second velocity signal S2, where S2 = S1·G. f (s), G f (s) is a filter, and then the second velocity signal S2 is scaled to obtain the phase compensation value X3, X3 = S2*k. The phase compensation value X3 is added to the first position command signal X2 to obtain the second position command signal X.
[0057] In some embodiments, the proportional coefficient for proportional adjustment of the second speed signal is in the range of 0-0.1.
[0058] For example, if the proportional coefficient is 0.01, the phase compensation value X3 is 0.01*S2. It should be noted that the value of the proportional coefficient will change when using different motors or different loads; therefore, the proportional coefficient needs to be calibrated according to the actual situation.
[0059] Furthermore, in some embodiments, the filter is a low-pass filter.
[0060] It is understandable that by filtering out the high-frequency signals in the first velocity signal using a low-pass filter, a smoother second velocity signal can be obtained, thus resulting in a more accurate phase compensation value.
[0061] In the above embodiment, a smooth first position command signal is obtained by convolution filtering the position control command. While achieving vibration suppression, this causes a phase delay in the first position command signal. Then, by performing phase compensation on the first position command signal, the phase delay is reduced, thereby reducing the position tracking error. This achieves vibration suppression while ensuring tracking accuracy.
[0062] The technical solution of this application will be further described in detail below with reference to specific implementation methods:
[0063] like Figure 3 As shown, the vibration suppression method includes the following steps:
[0064] S201, Determine the filtering parameters for convolution filtering: Determine the damping coefficient and the system vibration frequency, and calculate the filtering parameters based on the damping coefficient and the system vibration frequency.
[0065] S202, perform convolution filtering on the position control command according to the filtering parameters to generate the first position command signal.
[0066] S203, the first position command signal is differentiated, filtered and proportionally adjusted to obtain a phase compensation value, wherein the second position command signal is used to control the position of the target load.
[0067] S204, add the phase compensation value to the first position command signal to obtain the second position command signal.
[0068] In the above embodiments, the position control command is convolutionally filtered to obtain a smooth first position command signal, which achieves vibration suppression. However, this causes a phase delay in the first position command signal. Therefore, phase compensation is performed on the first position command signal to reduce the phase delay, thereby reducing the position tracking error. This achieves vibration suppression while ensuring tracking accuracy.
[0069] In summary, the vibration suppression method according to the embodiments of the present invention reduces the phase delay by performing phase compensation on the first position command signal, thereby reducing the position tracking error and achieving vibration suppression while ensuring tracking accuracy.
[0070] Corresponding to the above embodiments, embodiments of the present invention also provide a computer-readable storage medium storing a vibration suppression program thereon, which, when executed by a processor, implements the vibration suppression method of any of the foregoing embodiments.
[0071] According to the computer-readable storage medium of the present invention, by executing the computer program of the above-described vibration suppression method, a second position command signal for position control of the target load is generated by performing phase compensation on the position control command after convolution filtering, thereby achieving vibration suppression while ensuring tracking accuracy.
[0072] Corresponding to the above embodiments, embodiments of the present invention also provide a motor controller. For example... Figure 4 As shown, the motor controller 100 includes: a memory 110, a processor 120, and a vibration suppression program stored in the memory 110 and executable on the processor 120. When the processor 120 executes the program, it implements the vibration suppression method of any of the aforementioned embodiments.
[0073] According to an embodiment of the present invention, the motor controller executes a computer program for the above-described vibration suppression method through a processor, and generates a second position command signal for position control of the target load by performing phase compensation on the position control command after convolution filtering. This achieves vibration suppression while ensuring tracking accuracy.
[0074] Corresponding to the above embodiments, embodiments of the present invention also provide a vibration suppression device. For example... Figure 5 As shown, the vibration suppression device includes: a determination module 10, a filtering module 20, and a compensation module 30.
[0075] The determination module 10 is used to determine the filtering parameters; the filtering processing module 20 is used to perform convolution filtering on the position control command according to the filtering parameters to generate a first position command signal; the compensation module 30 is used to perform phase compensation on the first position command signal to obtain a second position command signal, wherein the second position command signal is used to perform position control on the target load.
[0076] In some embodiments, the compensation module 30 is further configured to: differentiate the first position command signal to obtain a first speed signal; filter the first speed signal using a filter to obtain a second speed signal; proportionally adjust the second speed signal to obtain a phase compensation value; and superimpose the phase compensation value onto the first position command signal.
[0077] In some embodiments, the proportional coefficient for proportional adjustment of the second speed signal is in the range of 0-0.1.
[0078] In some embodiments, the filter is a low-pass filter.
[0079] In some embodiments, the determining module 10 is further configured to: determine the damping coefficient and the system vibration frequency; determine a first filter coefficient based on the damping coefficient, and determine a second filter coefficient based on the first filter coefficient; and determine filter parameters based on the system vibration frequency, the first filter coefficient, and the second filter coefficient.
[0080] In some embodiments, the filter parameters are calculated according to the following formula: Among them, A i and t i Here, K is the filter parameter, and K is the first filter coefficient. ξ is the damping coefficient, T d =2π / ω d ω d Let G be the system vibration frequency, G be the second filter coefficient, and G = K + K 2 +…K n-1 .
[0081] In some embodiments, the first position command signal is calculated according to the following formula: X2=∑X1·A i ·exp(-t i s), where X1 is the position control command, X2 is the first position command signal, and s is the complex frequency.
[0082] It should be noted that the specific implementation of the vibration suppression device in this embodiment corresponds one-to-one with the specific implementation of the vibration suppression method in the foregoing embodiment of this invention, and will not be repeated here.
[0083] According to an embodiment of the present invention, the vibration suppression device determines filtering parameters through a determining module, performs convolution filtering on the position control command according to the filtering parameters through a filtering processing module to generate a first position command signal, and performs phase compensation on the first position command signal through a compensation module to obtain a second position command signal. The second position command signal is used to control the position of the target load. By performing phase compensation on the first position command signal, the phase delay is reduced, thereby reducing the position tracking error. While achieving vibration suppression, the tracking accuracy is also guaranteed.
[0084] Corresponding to the above embodiments, embodiments of the present invention also provide a servo motor, including the aforementioned motor controller or the aforementioned vibration suppression device.
[0085] According to the embodiments of the present invention, the servo motor, by employing the above-mentioned motor controller or vibration suppression device, generates a second position command signal for position control of the target load by performing phase compensation on the position control command after convolution filtering, thereby achieving vibration suppression while ensuring tracking accuracy.
[0086] Corresponding to the above embodiments, embodiments of the present invention also provide a robot, including the aforementioned servo motor.
[0087] According to the robot of the present invention, by employing the servo motor described above, and by performing phase compensation on the position control command after convolution filtering, a second position command signal for position control of the target load is generated, thereby achieving vibration suppression while ensuring tracking accuracy.
[0088] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.
[0089] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0090] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0091] Furthermore, the terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance, or implicitly specifying the number of technical features indicated in this embodiment. Therefore, features defined with terms such as "first" and "second" in the embodiments of this invention can explicitly or implicitly indicate that the embodiment includes at least one of those features. In the description of this invention, the word "multiple" means at least two or more, such as two, three, four, etc., unless otherwise explicitly specified in the embodiments.
[0092] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. A vibration suppression method, characterized in that, include: Determine the filtering parameters, and perform convolution filtering on the position control command according to the filtering parameters to generate a first position command signal; Phase compensation is performed on the first position command signal to obtain a second position command signal, wherein the second position command signal is used to control the position of the target load; Phase compensation of the first position command signal includes: The first position command signal is differentiated to obtain the first velocity signal; The first velocity signal is filtered using a filter to obtain the second velocity signal; The second speed signal is proportionally adjusted to obtain a phase compensation value; The phase compensation value is superimposed on the first position command signal.
2. The method according to claim 1, characterized in that, The proportional coefficient for proportional adjustment of the second speed signal is in the range of 0-0.
1.
3. The method according to claim 1, characterized in that, The filter is a low-pass filter.
4. The method according to any one of claims 1-3, characterized in that, Determine the filter parameters, including: Determine the damping coefficient and the system vibration frequency; The first filter coefficient is determined based on the damping coefficient, and the second filter coefficient is determined based on the first filter coefficient. The filtering parameters are determined based on the system vibration frequency, the first filtering coefficient, and the second filtering coefficient.
5. The method according to claim 4, characterized in that, The filtering parameters are calculated according to the following formula: in, and Here, K is the filtering parameter, and K is the first filtering coefficient. , The damping coefficient is... , Let G be the vibration frequency of the system, and G be the second filter coefficient. n is a positive integer, and n≥2.
6. The method according to claim 5, characterized in that, The first position command signal is calculated according to the following formula: in, The position control command. s is the first position command signal, and s is the complex frequency.
7. A computer-readable storage medium, characterized in that, It stores a vibration suppression program, which, when executed by a processor, implements the vibration suppression method according to any one of claims 1-6.
8. A motor controller, characterized in that, include: A memory, a processor, and a vibration suppression program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the vibration suppression method according to any one of claims 1-6.
9. A vibration suppression device, characterized in that, include: The determination module is used to determine the filter parameters; The filtering module is used to perform convolution filtering on the position control command according to the filtering parameters to generate a first position command signal; The compensation module is used to perform phase compensation on the first position command signal to obtain a second position command signal, wherein the second position command signal is used to perform position control on the target load; The compensation module is further configured to: differentiate the first position command signal to obtain a first velocity signal; filter the first velocity signal using a filter to obtain a second velocity signal; proportionally adjust the second velocity signal to obtain a phase compensation value; and superimpose the phase compensation value onto the first position command signal.
10. A servo motor, characterized in that, This includes the motor controller according to claim 8 or the vibration suppression device according to claim 9.
11. A robot, characterized in that, Includes the servo motor according to claim 10.