Resonance suppression method and storage medium for dual-inertia transmission system

Abstract

The present invention discloses a resonance suppression method and storage medium for a dual-inertia transmission system, and belongs to the field of motor control. The method comprises: constructing a model of a dual-inertia elastic system; observing the shaft torque of a transmission shaft in the dual-inertia elastic system by using a fractional-order disturbance observer, and making corresponding compensation for the electromagnetic torque according to the observed shaft torque of the transmission shaft. The observation equation of the fractional-order disturbance observer is: , where is the observer bandwidth, is the order of the fractional-order low-pass filter, is the inertia of the servo motor, is the speed of the servo motor, is the electromagnetic torque, and is the shaft torque disturbance observation value; the transfer function of the fractional-order low-pass filter is: , where is the transfer function of the fractional-order low-pass filter; observing the load torque and speed difference in the dual-inertia elastic system by using a state observer, and performing positive feedback compensation for the quadrature axis current according to the observed load torque and speed difference. The method of the present invention can not only suppress resonance well, but also has a strong anti-interference ability.

Description

Technical Field

[0001] The invention belongs to the technical field of motor control, and in particular relates to a resonance suppression method and a storage medium for a dual-inertia transmission system. Background Art

[0002] In dual-inertia transmission systems, there are often mechanical resonances of elastic structures and interference from external loads. In addition, there are certain contradictions and conflicts between resonance suppression and anti-interference. Under high gain, the system's anti-interference ability is improved but mechanical resonance is easily caused. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a resonance suppression method and a storage medium for a dual-inertia transmission system.

[0004] The present invention is achieved through the following technical solutions:

[0005] A first aspect of the present invention discloses a resonance suppression method for a dual-inertia transmission system, comprising:

[0006] Construct a model of a dual-inertia elastic system;

[0007] The fractional-order disturbance observer is used to observe the shaft moment of the transmission shaft in the dual-inertia elastic system, and the electromagnetic torque is compensated accordingly according to the observed shaft moment of the transmission shaft. The observation equation of the fractional-order disturbance observer is:

[0008]

[0009] In the formula, is the observer bandwidth, is the fractional low-pass filter order, is the servo motor inertia, is the servo motor speed, is the electromagnetic torque, is the observed value of the axial moment disturbance, is the Laplace variable in the complex frequency domain;

[0010] The transfer function of a fractional-order low-pass filter is:

[0011]

[0012] In the formula, is the transfer function of the fractional-order low-pass filter;

[0013] The load torque and speed difference in the dual-inertia elastic system are observed by a state observer, and positive feedback compensation is performed on the quadrature-axis current according to the observed load torque and speed difference.

[0014] Furthermore, the dual-inertia elastic system includes a drive motor and a load, and the drive motor is connected to the load via an elastic transmission mechanism.

[0015] Furthermore, the drive motor is a permanent magnet synchronous motor.

[0016] Furthermore, the load side of the dual-inertia elastic system is sensorless.

[0017] Furthermore, the recursive equation of the state observer is:

[0018]

[0019] In the formula, A, B, C, and L represent the system matrix, input matrix, output matrix, and feedback matrix in the dual-inertia system, respectively. , u, y are the state quantity, input quantity and output quantity of the system.

[0020] Furthermore, the state equation of the state observer in the dual-inertia elastic system is:

[0021]

[0022] In the formula, is the observed load torque, is the electromagnetic torque, is the load torque, is the servo motor inertia, is the observed value of the axial moment disturbance, is the observed value of the servo motor speed, is the observed value of load speed, is the load moment of inertia, is the servo motor speed, is the load speed, is the shaft torque disturbance feedback gain coefficient, For load one, For load 2, For load three, For load four.

[0023] A second aspect of the present invention discloses a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the resonance suppression method of the dual-inertia transmission system as described in the first aspect of the present invention is implemented.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects: the present invention can not only well suppress resonance, but also has strong anti-interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention; in the drawings:

[0026] Figure 1 A flow chart of the resonance suppression method of the present invention;

[0027] Figure 2 The present invention is a structural diagram of a fractional-order disturbance observer;

[0028] Figure 3 A feedback control block diagram of the fractional-order disturbance observer in the present invention;

[0029] Figure 4 A schematic diagram of the state observer in the present invention;

[0030] Figure 5 A structural diagram of the state observer in the present invention;

[0031] Figure 6 This is a feedback control block diagram of the state observer in the present invention. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0033] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0034] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inside", "outside", etc. appear to indicate the orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] like Figures 1 to 6 As shown, this embodiment discloses a resonance suppression method and storage medium for a dual-inertia transmission system.

[0037] The first aspect of this embodiment discloses a method for suppressing resonance of a dual-inertia transmission system. Figure 1 As shown, the resonance suppression method of the dual-inertia transmission system includes steps S100 to S300.

[0038] Step S100: Construct a model of a dual-inertia elastic system.

[0039] In a servo drive system, when the drive motor is connected to the load through an elastic transmission mechanism, the system is named a dual-inertia elastic system.

[0040] Step S200. Observe the shaft moment of the transmission shaft in the dual-inertia elastic system using a fractional-order disturbance observer, and make corresponding compensation for the electromagnetic torque according to the observed shaft moment of the transmission shaft. The observation equation of the fractional-order disturbance observer is:

[0041]

[0042] In the formula, is the observer bandwidth, is the fractional low-pass filter order, is the servo motor inertia, is the servo motor speed, is the electromagnetic torque, is the observed value of the axial moment disturbance; is the Laplace variable in the complex frequency domain, and its form is, ,in is the real part, is the imaginary part, is the angular frequency.

[0043] According to the observation equation of the fractional-order disturbance observer, the structure of the fractional-order disturbance observer can be obtained, as follows: Figure 2 As shown, the transfer function of the fractional-order low-pass filter is:

[0044]

[0045] In the formula, is the transfer function of the fractional-order low-pass filter.

[0046] The block diagram of feedback control based on fractional-order disturbance observer is as follows: Figure 3 As shown, is the speed loop speed setting, ASR is the automatic speed regulator, ACR is the automatic current regulator, DOB is the fractional-order disturbance observer, is the torque loop current given, is the observed wheelbase, K is the feedback gain coefficient, is the electromagnetic torque, is the load torque, is the motor side speed, is the load side speed.

[0047] This embodiment observes the shaft torque of the transmission shaft and makes corresponding compensation for the electromagnetic torque according to the observed shaft torque, thereby reducing the electromagnetic torque in the tooth gap separation stage and the speed difference during meshing, compensating for the influence of the shaft torque disturbance on the electromagnetic torque, and thus reducing mechanical resonance.

[0048] Step S300: Observe the load torque and the speed difference in the dual-inertia elastic system using a state observer, and perform positive feedback compensation on the quadrature-axis current according to the observed load torque and speed difference.

[0049] In the dual-inertia elastic system, there is no sensor on the load side except the drive end.

[0050] The principle of state observer is as follows Figure 4 As shown, is the integral symbol.

[0051] In some implementations of this embodiment, the recursive equation of the state observer is:

[0052]

[0053] In the formula, A, B, C, and L represent the system matrix, input matrix, output matrix, and feedback matrix in the dual-inertia system, respectively. , u, y are the state quantity, input quantity and output quantity of the system.

[0054] In some implementations of this embodiment, the state equation of the state observer in the dual-inertia elastic system is:

[0055]

[0056] In the formula, is the observed load torque, is the electromagnetic torque, is the load torque, is the servo motor inertia, is the observed value of the axial moment disturbance, is the observed value of the servo motor speed, is the observed value of load speed, is the load moment of inertia, is the servo motor speed, is the load speed, is the shaft torque disturbance feedback gain coefficient, For load one, For load 2, For load three, For load four.

[0057] According to the state equation of the state observer, the structure of the designed state observer is as follows Figure 5 As shown, is the observed value of the servo motor angular velocity, is the observed value of load angular velocity, is the servo motor angular velocity, is the electromagnetic torque, is the observed load torque, is the shaft torque disturbance feedback gain coefficient, is the load inertia, is the observed value of the axial moment disturbance, For load one, For load 2, For load three, The state observer is used in the constructed dual-inertia system model, and the observed load torque and speed difference are used for positive feedback, which can effectively suppress the speed fluctuation caused by external interference and enhance the anti-disturbance performance of the system.

[0058] Based on the compensation factor The feedback block diagram of the state observer is as follows Figure 6 As shown, , is the feedback gain coefficient, is the observed speed difference, and are the electromagnetic torque and load torque, and are the motor speed and load speed, is the torque loop current, is the observed value of the axial moment disturbance, is the speed loop speed setting, ASR is the automatic speed regulator, ACR is the automatic current regulator, and DOB is the fractional-order disturbance observer.

[0059] The state observer effectively estimates the torque and speed difference on the load side, so that when there is external interference (such as sudden addition or removal of rated load), the observed load value is used to perform positive feedback compensation on the quadrature-axis current, thereby suppressing the load disturbance, reducing the dynamic speed drop, and shortening the recovery time. The purpose of enhancing the system's anti-interference ability is achieved by adding a compensation coefficient to the compensation loop, changing the compensation capacity and controlling the anti-interference performance.

[0060] A second aspect of the present embodiment discloses a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the resonance suppression method of the dual-inertia transmission system as described in the first aspect of the present embodiment is implemented.

[0061] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A resonance suppression method for a dual-inertia transmission system, characterized in that: include: Construct a model of a dual-inertia elastic system; The fractional-order disturbance observer is used to observe the shaft moment of the transmission shaft in the dual-inertia elastic system, and the electromagnetic torque is compensated accordingly according to the observed shaft moment of the transmission shaft. The observation equation of the fractional-order disturbance observer is: ； In the formula, is the observer bandwidth, is the fractional low-pass filter order, is the servo motor inertia, is the servo motor speed, is the electromagnetic torque, is the observed value of the axial moment disturbance, is the Laplace variable in the complex frequency domain; The transfer function of a fractional-order low-pass filter is: ； In the formula, is the transfer function of the fractional-order low-pass filter; The load torque and speed difference in the dual-inertia elastic system are observed by a state observer, and positive feedback compensation is performed on the quadrature-axis current according to the observed load torque and speed difference.

2. The resonance suppression method of a dual-inertia transmission system according to claim 1, characterized in that: The dual-inertia elastic system comprises a driving motor and a load, and the driving motor is connected to the load via an elastic transmission mechanism.

3. The resonance suppression method of a dual-inertia transmission system according to claim 2, characterized in that: The driving motor is a permanent magnet synchronous motor.

4. The resonance suppression method of a dual-inertia transmission system according to claim 1, characterized in that: The dual-inertia elastic system has no sensor on the load side.

5. The resonance suppression method of a dual-inertia transmission system according to claim 1, characterized in that: The recursion equation of the state observer is: ； In the formula, A, B, C, and L represent the system matrix, input matrix, output matrix, and feedback matrix in the dual-inertia system, respectively. , u, y are the state quantity, input quantity and output quantity of the system.

6. The resonance suppression method of a dual-inertia transmission system according to claim 1, characterized in that: The state equation of the state observer in the dual-inertia elastic system is: ； In the formula, is the observed load torque, is the electromagnetic torque, is the load torque, is the servo motor inertia, is the observed value of the axial moment disturbance, is the observed value of the servo motor speed, is the observed value of load speed, is the load moment of inertia, is the servo motor speed, is the load speed, is the shaft torque disturbance feedback gain coefficient, For load one, For load 2, For load three, For load four.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the resonance suppression method of the dual-inertia transmission system according to any one of claims 1 to 6 is implemented.

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