Flexible servo system mechanical resonance suppression method based on quasi-resonance and suppression system thereof

Abstract

The invention belongs to the related technical field of motor control, and discloses a flexible servo system mechanical resonance suppression method and suppression system based on quasi-resonance, and the method comprises the steps: carrying out the speed PID regulation and control of a motor actual rotating speed omega m (k) and a rotating speed instruction omega ref (k) at the kth moment, and obtaining a speed initial regulation and control value u0 (k); inputting q-axis current values iq (k) and omega m (k) at the kth moment into a discretized extended state observer, observing a rotating speed disturbance estimated value # imgabs0 # and compensating the rotating speed disturbance estimated value # imgabs0 # into u0 (k) to obtain u1 (k); discretized quasi-resonance processing is carried out based on the motor rotating speed errors at the (k-2) th moment and the kth moment, OutQR (k) is obtained and compensated to u1 (k), u2 (k) is obtained and input into a current loop, and vector control over the motor inverter bridge is achieved. By means of the method, mechanical resonance can be actively suppressed, meanwhile, system response overshoot is reduced, and the response speed is increased.

Description

Technical Field

[0001] The present invention belongs to the technical field related to motor control, and more specifically, relates to a mechanical resonance suppression method of a flexible servo system based on quasi-resonance and a suppression system thereof. Background Art

[0002] The mechanical transmission part of the servo drive system often uses transmission devices such as transmission shafts, transmissions, couplings, etc. to connect the motor and the load. However, the actual transmission device is not an ideal rigid body and has a certain elasticity, which usually causes mechanical resonance in the system. In addition to emitting acoustic noise and forming noise pollution, mechanical oscillation will also cause serious damage to the mechanical transmission device and affect its service life. In addition, it will also cause oscillation of the control quantity in the control system, which will restrict the stability and adjustability of the closed-loop control. Therefore, the research on mechanical oscillation and the suppression method are very necessary.

[0003] At present, the solutions to the problem of mechanical resonance suppression are mainly divided into two aspects: passive suppression and active suppression. Active suppression refers to suppressing mechanical vibration by changing the controller structure or adjusting the control parameters. A common method is to achieve vibration suppression through a conventional controller combined with state feedback. This method will not weaken the command component. In current commercial servo products, an extended state observer is often used to achieve active suppression of mechanical resonance. However, the method of suppressing mechanical resonance with the observer will lose the phase margin of the loop, thereby causing system overshoot. At this time, the system overshoot can be reduced by reducing the speed loop gain, but it will slow down the system response speed. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a quasi-resonance-based flexible servo system mechanical resonance suppression method and a suppression system thereof, the purpose of which is to achieve active suppression of mechanical resonance while reducing system response overshoot and improving response speed.

[0005] To achieve the above object, the present invention provides a method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance, which comprises:

[0006] The actual motor speed ω at the kth moment m (k) and the speed command ω at the kth moment ref (k) Perform speed PID control to obtain the initial speed control value u0(k) at the kth moment;

[0007] The q-axis current value i at the kth moment q (k) and the actual motor speed ω m(k) Input the discretized extended state observer to observe the estimated value of the speed disturbance at the kth moment caused by other torques other than the electromagnetic torque.

[0008] Will Compensate to u0(k) to obtain the first speed compensation control value u1(k);

[0009] Based on the motor speed error at the k-2th moment and the motor speed error at the kth moment, a quasi-resonant process is discretized to track the AC signal without steady-state error, and the quasi-resonant speed Out at the kth moment is obtained. Q R(k);

[0010] Out QR (k) is compensated to u1(k) to obtain the second speed compensation control value u2(k);

[0011] Input u2(k) into the current loop to realize vector control of the motor inverter bridge.

[0012] In some embodiments, the PID control adopts K p Control, the speed PID control is performed to obtain the control formula of the initial speed control value u0(k) at the kth moment:

[0013] u0(k)=K p (ω ref (k)-ω m (k)).

[0014] In the formula, K p is the proportional gain coefficient.

[0015] In some embodiments, the equivalent model of the discretized extended state observer is:

[0016]

[0017] In the formula, is the estimated speed at the kth moment, is the estimated value of the speed at the k-1th moment, is the estimated value of the speed disturbance at the k-1th moment;

[0018] T s is the sampling period, k1 and k2 are the gain coefficients of the extended state observer, and b is the ratio of the motor torque constant to the motor inertia.

[0019] In some embodiments, the equation for performing the discretized quasi-resonance processing is:

[0020]

[0021] Where, e is the motor speed error, b0, b2, a0, a1, a2 are constants calculated based on system parameters, T s is the sampling period, K r ,ω c ,ω n They are the depth coefficient, width coefficient and resonant frequency of quasi-resonance, and the resonant frequency ω n It is equal to the anti-resonance frequency of the equivalent dual-inertia model in the flexible servo system.

[0022] In some embodiments, the equivalent dual-inertia model of the flexible servo system is:

[0023]

[0024] Where, T e is the electromagnetic torque of the motor, ω m ,ω L are the actual speed of the motor and the actual speed of the load, J m , J L are motor inertia and load inertia respectively, K s and D s are the load elastic coefficient and damping coefficient respectively, and s is the Laplace operator.

[0025] In some embodiments, the Compensated to u0(k), the calculation formula for the first speed compensation control value u1(k) is:

[0026]

[0027] Where b is the ratio of the motor torque constant to the motor inertia.

[0028] The present invention also provides a flexible servo system mechanical resonance suppression system based on quasi-resonance, which comprises:

[0029] Speed ​​PID control module, used to control the actual motor speed ω at the kth moment m (k) and the speed command ω at the kth moment ref (k) Perform speed PID control to obtain the initial speed control value u0(k) at the kth moment;

[0030] The extended state observer is used to obtain the q-axis current value i at the kth moment q (k) and the actual motor speed ω m (k) and observe the estimated value of the speed disturbance at the kth moment when the motor speed is disturbed by other torques other than the electromagnetic torque

[0031] The first compensation operation module is used to Compensate to u0(k) to obtain the first speed compensation control value u1(k);

[0032] The quasi-resonance link module is used to obtain the motor speed error at the k-2th moment and the motor speed error at the kth moment and perform discretized quasi-resonance processing to track the AC signal without steady-state error, and obtain the quasi-resonance speed Out at the kth moment. QR (k);

[0033] The second compensation operation module is used to convert Out QR (k) is compensated to u1(k) to obtain the second speed compensation control value u2(k);

[0034] The current loop is used to obtain the second speed compensation control value u2(k) to realize vector control of the motor inverter bridge.

[0035] The present invention also provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any of the above methods when executing the computer program.

[0036] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0037] The present invention also provides a computer program product, comprising a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the steps of any of the above methods are implemented.

[0038] In general, compared with the prior art, the above technical solutions conceived by the present invention mainly have the following beneficial effects:

[0039] First, the present invention regards other torques that affect the motor speed except the electromagnetic torque of the motor as disturbances, and designs an extended state observer to observe the disturbance estimation value of other torques f on the motor speed. Based on the observed disturbance value, the initial speed control value is compensated, which can realize the active suppression of mechanical resonance. Compared with the traditional PI algorithm, adding an extended state observer can suppress the influence of resonance on the system speed, and in steady state, compared with the traditional PI algorithm, it can suppress the speed fluctuation caused by external disturbances, such as the influence of tooth slots. Secondly, since it is found that adding an extended state observer will reduce the phase margin of the system and produce a large overshoot, the present invention also introduces quasi-resonance processing to increase the amplitude at the resonant frequency of the signal, thereby improving the system phase margin and reducing the system overshoot caused by the extended state observer. In addition, when achieving the same overshoot, the system response speed of adding a resonance link is faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flowchart of the steps of a method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance in one embodiment of the present invention;

[0041] Figure 2 is a signal flow diagram of a mechanical resonance suppression method of a flexible servo system based on quasi-resonance in one embodiment of the present invention;

[0042] Figure 3 is a schematic structural diagram of a flexible servo model in an embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of the structure of an extended state observer in one embodiment of the present invention;

[0044] Figure 5 is an open-loop Bode diagram of PI, P+ESO, and P+ESO+QR systems in one embodiment;

[0045] Figure 6 is a closed-loop Bode diagram of PI, P+ESO, and P+ESO+QR systems in one embodiment;

[0046] Figure 7 yes Figure 6 Amplified view at -3dB;

[0047] Figure 8 is a diagram of a mechanical resonance experimental platform in an embodiment;

[0048] Fig. 9 is an open-loop frequency sweep diagram of actual system speed in one embodiment;

[0049] Fig.10 is a speed step response diagram of PI in one embodiment when Kp is 20;

[0050] Fig.11 is a speed step response diagram of P+ESO in one embodiment when Kp is 20;

[0051] Fig.12 is a speed step response diagram of P+ESO in one embodiment when Kp is 10;

[0052] Fig.13 It is a speed step response diagram of the method of the present invention when Kp is 20 in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Example 1

[0055] like Figure 1 FIG. 1 is a flow chart showing the steps of a method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance in one embodiment of the present invention. Figure 2 FIG. 1 is a signal flow diagram of a method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance in an embodiment of the present invention. The method mainly includes six steps, such as: Figure 1 The sequence of the steps is only an example and is not limited to this. The following is an introduction to each step.

[0056] Step S1: The actual motor speed ω at the kth moment m (k) and the speed command ω at the kth moment ref (k) Perform speed PID control to obtain the initial speed control value u0(k) at the kth moment.

[0057] Specifically, the speed command is the target speed that the user expects to achieve, which usually deviates from the actual speed of the current motor. Therefore, speed PID control is required to make the actual speed approach the target speed through feedback adjustment.

[0058] In one embodiment, Kp regulation is specifically adopted here, and its regulation formula can be expressed as:

[0059] u0(k)=K p (ω ref (k)-ω m (k))

[0060] In the formula, K p is the gain factor.

[0061] In other embodiments, PID control may also be implemented in other forms such as integral control, differential control, etc.

[0062] Step S2: The q-axis current value i at the kth moment q (k) and the actual motor speed ω m (k) Input the discretized extended state observer to observe the estimated value of the speed disturbance at the kth moment caused by other torques other than the electromagnetic torque.

[0063] In order to facilitate the understanding of the speed disturbance here, the flexible servo system is introduced below. In the flexible servo system, in actual working conditions, the system will have one or more flexible connection links, such as screws, belts, etc. In order to facilitate theoretical analysis, it is equivalent to a dual-inertia model, such as Figure 3 The figure shows a schematic diagram of the structure of a flexible servo model in an embodiment of the present invention. When the motor is controlled to output the electromagnetic torque T e After that, the electromagnetic torque T e Input dual inertia model, and load torque T L After the combined effect, the actual motor speed ω is obtained. m , the load torque T is not considered in this invention L Therefore, the dual inertia model can be expressed as follows:

[0064]

[0065] Where, T e is the electromagnetic torque of the motor, ω m ,ω L are the motor speed and load speed respectively, J m , J L are motor inertia and load inertia respectively, K s and D s are the load elastic coefficient and damping coefficient respectively, and s is the Laplace operator.

[0066] Therefore, the torque that affects the motor speed includes not only the electromagnetic torque T output by the motor e , also includes the torsional torque T caused by the flexible servo model w Therefore, the present invention converts the torsional torque T brought by the flexible servo model into w As the disturbance quantity, the motion equation of the flexible servo system is established as:

[0067]

[0068] Where, T e is the electromagnetic torque of the motor, and f is the disturbance torque that affects the motor speed other than the electromagnetic torque of the motor, which is called the total disturbance, which includes the torsional torque T caused by the flexible servo model. w ,ω m is the actual motor speed, J m is the motor inertia.

[0069] Based on the motion equation of the flexible servo system established above, the total disturbance f needs to be considered in advance when performing current loop control. In the present invention, a discretized extended state observer is used to observe the estimated value of the total disturbance f, such as Figure 4FIG. 1 is a schematic diagram of the structure of an extended state observer in an embodiment of the present invention, and its equivalent model is expressed as follows:

[0070]

[0071] In the formula, is the estimated speed at the kth moment, is the estimated value of the speed at the k-1th moment, is the total disturbance estimate at the kth moment, is the total disturbance estimate at the k-1th moment, i q (k) is the q-axis current value at the kth moment, ω m (k) is the actual motor speed at the kth moment, T s is the sampling period, k1 and k2 are the gain coefficients of the extended state observer, b = K t / J m , K t is the torque constant, J m is the motor torque constant, J m is the motor inertia.

[0072] In a specific embodiment, in order to stabilize the observer, the observer gain is set to:

[0073]

[0074] Here, β is the bandwidth of the observer.

[0075] Step S3: Compensate it into u0(k) to obtain the first speed compensation control value u1(k).

[0076] If the above disturbance is not considered during current loop control, mechanical resonance will occur. Therefore, the present invention observes the disturbance through an extended state observer. Specifically, after obtaining the estimated value of the speed disturbance Afterwards, based on this The initial speed control value u0(k) is compensated and the speed control amount corresponding to the disturbance is subtracted in advance to achieve active suppression of mechanical resonance.

[0077] The specific compensation calculation formula is:

[0078]

[0079] Where b = K t / J m , K t is the torque constant, J m is the motor inertia.

[0080] Step S4: Based on the motor speed error at the k-2th moment and the motor speed error at the kth moment, a quasi-resonant process is discretized to track the AC signal without steady-state error, and the quasi-resonant speed Out at the kth moment is obtained. QR (k).

[0081] Step S5: Out QR (k) is compensated to u1(k) to obtain the second speed compensation control value u2(k).

[0082] Although the introduction of the above-mentioned extended state observer can suppress mechanical resonance, it has been observed that the introduction of the extended state observer generally loses the phase margin of the loop, thereby causing system overshoot and making the system response speed slower. Therefore, the present invention also introduces a quasi-resonance link to perform a second compensation operation to further solve the problems caused by the introduction of the extended state observer.

[0083] The quasi-resonant link (QR) is shown below:

[0084]

[0085] In the formula, K r ,ω c ,ω n are the depth coefficient, width coefficient and resonant frequency of the quasi-resonance respectively. The quasi-resonance equation after discretization is:

[0086]

[0087] Where, e is the motor speed error, b0, b2, a0, a1, and u2 are all constants calculated based on system parameters, and T s is the sampling period, K r ,ω c ,ω n They are the depth coefficient, width coefficient and resonant frequency of quasi-resonance, and the resonant frequency ω n Equal to the anti-resonance frequency of the dual-inertia model.

[0088] When the quasi-resonant speed Out at the kth moment is obtained QR (k), it is compensated to u1(k) to obtain the second speed compensation control value u2(k), that is:

[0089] u2(k)=u1(k)+Out QR (k)

[0090] Step S6: Input u2(k) into the current loop to implement vector control of the motor inverter bridge.

[0091] Among them, the current loop ACR can use the traditional PI controller, take the obtained u2 as the input of the q-axis current loop, use vector control, set the d-axis current to 0, and after SVPWM, calculate the corresponding switch quantity, control the inverter bridge to output the three-phase voltage, and complete the control of the servo system. The q-axis current output by the motor at the next moment after regulation is converted into the electromagnetic torque T of the motor at the next moment after torque conversion. e , and then output the actual speed through the dual inertia model.

[0092] like Figure 5 Shown are the open-loop Bode diagrams of PI, P+ESO and P+ESO+QR systems. Figure 6 is the closed-loop Bode diagram of PI, P+ESO and P+ESO+QR systems, Figure 7 yes Figure 6 The enlarged diagram at -3dB shows the open-loop Bode diagrams of traditional PI control, adding an extended state observer, and adding an extended state observer and a quasi-resonant link; among them, the curve represented by PI (Kp=20) corresponds to traditional PI control and the gain coefficient of Kp control is 20, the curve represented by P+ESO (Kp=20) corresponds to adding an extended state observer and the gain coefficient of Kp control is 20, the curve represented by P+ESO (Kp=1 1) corresponds to adding an extended state observer and the gain coefficient of Kp control is 11, and the curve represented by P+ESO+OR (Kp=20) corresponds to adding an extended state observer and a quasi-resonant link and the gain coefficient of Kp control is 20. From Figure 5 It can be seen that after adding the quasi-resonant link, the system phase margin is improved, and improving the phase margin can reduce overshoot. Figure 6 and Figure 7 It can be seen that after adding the quasi-resonance link, the system responsiveness is weakened, but the weakening effect is not significant. Under the same overshoot condition, adding the quasi-resonance link will respond faster. Therefore, adding the extended state observer and the quasi-resonance link can not only suppress mechanical resonance, but also reduce the system response overshoot and improve the response speed.

[0093] The effect is described below through a specific embodiment.

[0094] The parameters of the surface-mounted permanent magnet synchronous motor are as follows: the stator resistance R is 1.4Ω, the stator inductance is 6.1mH, and the rotor inertia is 0.000055kg·m 2 , the pole pair number is 5, and the belt platform is constructed as Figure 8 As shown, the load inertia ratio is 2.1, and the system resonance point and anti-resonance point information are obtained by using the frequency sweeping technology, as shown in Fig. 9 The figure shows the open-loop frequency sweep diagram of the actual system speed, with the resonance point at 400 Hz and the anti-resonance point at 229 Hz.

[0095] For the above working conditions, the following experiments were conducted. The given speed was 40r / min. The traditional PI algorithm, the P+ESO algorithm, and the P+ESO+QR algorithm of the present invention were compared respectively. Fig.10 This is the speed step response diagram of PI when Kp is 20; Fig.11 This is the speed step response diagram of P+ESO when Kp is 20;

[0096] Fig.12 This is the speed step response diagram of P+ESO when Kp is 10; Fig.13 2 is a speed step response diagram of the present invention when Kp is 20.

[0097] contrast Fig.10 and Fig.11 It can be seen that when Kp=20, the PI algorithm causes obvious mechanical resonance phenomenon, while the P+ESO method suppresses the mechanical resonance phenomenon but causes huge overshoot.

[0098] contrast Fig.11 and Fig.12 It can be seen that in the case of large overshoot, the system overshoot can be reduced from 12r / min to 1.5r / min by reducing Kp, but at this time, the rise time of the system increases from 5.5ms to 12.5ms, that is, the system response speed slows down. Fig.11 and Fig.13 When Kp is equal to 20, P+ESO will cause a large overshoot. However, after adding the QR link, the overshoot is reduced from 12r / min to 2r / min, and the cost is only the increase of the rise time from 5.5ms to 6.5ms. Fig.12 and Fig.13 , it is found that when the overshoot of P+ESO and P+ESO+QR is similar, the response speed of P+ESO+QR is nearly half faster than that of P+ESO, from 12.5ms to 6.5ms, and when the difference between the speed feedback and the command does not exceed 1r / min, it is considered that the system is stable. At this time, the adjustment time of P+ESO and P+ESO+QR is compared. The adjustment time of P+ESO+QR is 8.6ms, while the adjustment time of P+ESO is 21.5ms. In terms of adjustment time, P+ESO+QR is better than P+ESO. Therefore, compared with the P+ESO algorithm, the present invention greatly improves the system response speed under the same overshoot, and greatly reduces the system overshoot under the same Kp.

[0099] Example 2

[0100] The present invention also relates to a flexible servo system mechanical resonance suppression system based on quasi-resonance, which comprises:

[0101] Speed ​​PID control module, used to control the actual motor speed ω at the kth moment m (k) and the speed command ω at the kth moment ref (k) Perform speed PID control to obtain the initial speed control value u0(k) at the kth moment;

[0102] The extended state observer is used to obtain the q-axis current value i at the kth moment q (k) and the actual motor speed ω m (k) and observe the estimated value of the speed disturbance at the kth moment when the motor speed is disturbed by other torques other than the electromagnetic torque

[0103] The first compensation operation module is used to Compensate to u0(k) to obtain the first speed compensation control value u1(k);

[0104] The quasi-resonance link module is used to obtain the motor speed error at the k-2th moment and the motor speed error at the kth moment and perform discretized quasi-resonance processing to track the AC signal without steady-state error, and obtain the quasi-resonance speed Out at the kth moment. QR (k);

[0105] The second compensation operation module is used to convert Out QR (k) is compensated to u1(k) to obtain the second speed compensation control value u2(k);

[0106] The current loop is used to obtain the second speed compensation control value u2(k) to realize vector control of the motor inverter bridge.

[0107] Specifically, the above system can be used to implement the method in Example 1, wherein each module can be used to execute corresponding steps. For specific details, please refer to the introduction of Example 1 and will not be repeated here.

[0108] Example 3

[0109] The present invention also relates to an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0110] The electronic device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The memory may be used to store computer programs and / or modules, and the processor may perform various functions of the electronic device by running or executing computer programs and / or modules stored in the memory, and calling data stored in the memory.

[0111] Example 4

[0112] The present invention also relates to a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above method when executed by a processor.

[0113] Specifically, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0114] Example 5

[0115] The embodiment of the present invention provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of the method of the above embodiment of the present invention.

[0116] The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. It should be noted that "in one embodiment", "for example", "for example", etc. of the present invention are intended to illustrate the present invention, rather than to limit the present invention.

[0117] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance, characterized in that: include: The actual motor speed ω at the kth moment m (k) and the speed command ω at the kth moment ref (k) Perform speed PID control to obtain the initial speed control value u0(k) at the kth moment; The q-axis current value i at the kth moment q (k) and the actual motor speed ω m (k) Input the discretized extended state observer to observe the estimated value of the speed disturbance at the kth moment caused by other torques other than the electromagnetic torque. Will Compensate to u0(k) to obtain the first speed compensation control value u1(k); Based on the motor speed error at the k-2th moment and the motor speed error at the kth moment, a quasi-resonant processing is discretized to track the AC signal without steady-state error, and the quasi-resonant speed Out!R(k) at the kth moment is obtained; Out QR (k) is compensated to u1(k) to obtain the second speed compensation control value u2(k); Input u2(k) into the current loop to realize vector control of the motor inverter bridge.

2. The method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance according to claim 1, characterized in that: The PID control adopts K p Control, the speed PID control is performed to obtain the control formula of the initial speed control value u0(k) at the kth moment: u0(k)=K p (oh ref (k)-ω m (k)). In the formula, K p is the proportional gain coefficient.

3. The method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance according to claim 1, characterized in that: The equivalent model of the discretized extended state observer is: In the formula, is the estimated speed at the kth moment, is the estimated value of the speed at the k-1th moment, is the estimated value of the speed disturbance at the k-1th moment; T s is the sampling period, k1 and k2 are the gain coefficients of the extended state observer, and b is the ratio of the motor torque constant to the motor inertia.

4. The method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance according to claim 1, characterized in that: The equation for the discretized quasi-resonance processing is: Where, e is the motor speed error, b0, b2, a0, a1, a2 are constants calculated based on system parameters, T s is the sampling period, K r ,ω c ,ω n They are the depth coefficient, width coefficient and resonant frequency of quasi-resonance, and the resonant frequency ω n It is equal to the anti-resonance frequency of the equivalent dual-inertia model in the flexible servo system.

5. The method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance according to claim 1, characterized in that: The equivalent dual-inertia model of the flexible servo system is: Where, T e is the electromagnetic torque of the motor, ω m ,ω L are the actual speed of the motor and the actual speed of the load, J m , J L are motor inertia and load inertia respectively, K s and D s are the load elastic coefficient and damping coefficient respectively, and s is the Laplace operator.

6. The method for suppressing mechanical resonance of a flexible servo system based on quasi-resonance according to claim 1, characterized in that: The Compensated to u0(k), the calculation formula for the first speed compensation control value u1(k) is: Where b is the ratio of the motor torque constant to the motor inertia.

7. A mechanical resonance suppression system for a flexible servo system based on quasi-resonance, characterized in that: include: Speed ​​PID control module, used to control the actual motor speed ω at the kth moment m (k) and the speed command ω at the kth moment ref (k) Perform speed PID control to obtain the initial speed control value u0(k) at the kth moment; The extended state observer is used to obtain the q-axis current value i at the kth moment q (k) and the actual motor speed ω m (k) and observe the estimated value of the speed disturbance at the kth moment when the motor speed is disturbed by other torques other than the electromagnetic torque The first compensation operation module is used to Compensate to u0(k) to obtain the first speed compensation control value u1(k); The quasi-resonance link module is used to obtain the motor speed error at the k-2th moment and the motor speed error at the kth moment and perform discretized quasi-resonance processing to track the AC signal without steady-state error, and obtain the quasi-resonance speed Out at the kth moment. QR (k); The second compensation operation module is used to convert Out QR (k) is compensated to u1(k) to obtain the second speed compensation control value u2(k); The current loop is used to obtain the second speed compensation control value u2(k) to realize vector control of the motor inverter bridge.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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