Tail end vibration suppression method, servo system, suppression device and equipment

Abstract

The invention discloses a terminal vibration suppression method, a servo system, a suppression device and equipment, and relates to the technical field of vibration control. In a determined damped oscillation curve, a disturbance point segmentation strategy is adopted to determine vibration characteristic parameters in each target segment, and the disturbance point segmentation is based on the fact that when a tail end load is disturbed, a large deviation exists between a subsequently calculated vibration control coefficient and a theoretical vibration control coefficient, and the vibration control effect is influenced. In order to eliminate disturbance, target segmentation is completed by adopting a time period corresponding to a disturbance point, and a vibration control coefficient is independently identified in each target segmentation. Through segmented independent identification, an appropriate target vibration control coefficient is determined according to each vibration control coefficient, and the stability and accuracy of vibration control coefficient identification are further improved. And the determined target vibration suppression coefficient is input to the input shaper, so that the effect of suppressing the tail end vibration is achieved, and the positioning speed and the positioning precision of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration control, and particularly to a method for suppressing end vibration, a servo system, a suppression device, and a device. Background Art

[0002] In a servo system, a motor is often connected to a load through transmission mechanisms such as a speed reducer and a belt, and the transmission device is prone to elastic deformation under force. When the mechanical arm at the load end is long, or the load is heavy due to a large number of loads, end vibration is likely to occur during rapid acceleration, deceleration, or sudden stop, affecting the positioning speed and positioning accuracy of the system.

[0003] Therefore, how to improve the positioning speed and positioning accuracy of the system is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for suppressing end vibration, a servo system, a suppression device, and a device, so as to solve the problem that the end vibration affects the positioning speed and positioning accuracy of the system.

[0005] To solve the above technical problems, the present invention provides a method for suppressing end vibration, including:

[0006] Within the decay oscillation curve of the end load, determining vibration characteristic parameters corresponding to each target segment according to a disturbance point segmentation strategy;

[0007] Determining a corresponding vibration suppression coefficient based on the vibration characteristic parameters of each target segment; wherein, the vibration suppression coefficient is obtained by simplifying the constraint equation of an input shaper;

[0008] Determining a target vibration suppression coefficient according to each vibration suppression coefficient and inputting it into an input shaper to suppress end vibration.

[0009] On the one hand, determining vibration characteristic parameters corresponding to each target segment according to a disturbance point segmentation strategy includes:

[0010] Determining a first time point corresponding to the maximum amplitude within the decay oscillation curve;

[0011] Starting from the first time point, traversing the amplitudes corresponding to each time point; wherein, each time point is determined by the first time point and the vibration period of the decay oscillation curve;

[0012] Determining amplitude disturbance according to an amplitude principle and each amplitude, and taking the time point corresponding to the amplitude disturbance as a disturbance point; wherein, the amplitude principle is that the next amplitude is greater than or equal to the current amplitude;

[0013] Determine the corresponding target segment according to each disturbance point and the first time point, so as to determine the amplitude corresponding to the next time point of the current disturbance point and the previous time point of the next disturbance point within each target segment;

[0014] Take the next time point of the current disturbance point and the previous time point of the next disturbance point within each target segment, and their respective corresponding amplitudes as the vibration characteristic parameters corresponding to each target segment.

[0015] On the other hand, determining the corresponding target segment according to each disturbance point and the first time point includes:

[0016] Starting from the current disturbance point, take the time between the next time point corresponding to the previous disturbance point of the current disturbance point and the previous time point of the current disturbance point as the current target segment; wherein, when the current disturbance point is the first disturbance point, take the time between the first time point and the previous time point of the current disturbance point as the current target segment, and the first disturbance point is greater than the first time point;

[0017] Take the time between the next time point of the current disturbance point and the previous time point of the next disturbance point as the next segment of the current target segment;

[0018] And so on, until the time between the next time point of the last disturbance point and the time point corresponding to the last vibration period of the decay oscillation curve is used as the last target segment.

[0019] On the other hand, determining the corresponding vibration damping coefficient based on the vibration characteristic parameters of each target segment includes:

[0020] Take the next time point of the current disturbance point of the current target segment as the second time point;

[0021] Take the previous time point of the next disturbance point of the current disturbance point of the current target segment as the third time point;

[0022] Obtain the amplitude corresponding to the second time point and use it as the first amplitude;

[0023] Obtain the amplitude corresponding to the third time point and use it as the second amplitude;

[0024] Determine the decay oscillation function of the current target segment according to the first amplitude, the second time point, the second amplitude and the third time point;

[0025] Obtain the vibration damping function corresponding to the constraint equation of the input shaper; wherein, the parameters of the vibration damping function include the vibration period;

[0026] Determine the vibration damping coefficient of the current target segment according to the damped oscillation function and the vibration damping function of the current target segment; wherein, the number of the vibration damping coefficients is the same as the number of segments of the target segment. On the other hand, the determination process of the vibration damping function includes:

[0027] Obtain the constraint equation of the input shaper, wherein the constraint equation includes a first delay time function, a first pulse amplitude function, and a second pulse amplitude function;

[0028] Set the damping oscillation frequency of the first delay time function to the end vibration angular frequency for simplification to obtain a second delay time function;

[0029] Simplify the damping effect parameters corresponding to the first pulse amplitude function and the second pulse amplitude function into an initial vibration damping coefficient;

[0030] Determine the vibration damping function according to the constraint equation, the simplified second delay time function, the simplified first pulse amplitude function corresponding to the initial vibration damping coefficient, and the second pulse amplitude function.

[0031] On the other hand, the determination process of the damped oscillation curve includes:

[0032] Obtain a first preset amplitude and a first preset number of vibrations;

[0033] Monitor the third amplitude of the load;

[0034] When the third amplitude exceeds the first preset amplitude and the number of vibrations of the third amplitude exceeding the first preset amplitude reaches the first preset number of vibrations, determine that the load has end vibration;

[0035] Count the number of vibrations of the fourth amplitude exceeding the second preset amplitude after the end vibration;

[0036] When the number of vibrations of the fourth amplitude exceeding the second preset amplitude reaches the second preset number of vibrations, end the acquisition of the load, and determine the fluctuation curve at the time corresponding to the first preset time point from the statistical time when the end vibration exists as the damped oscillation curve; wherein, the first preset time point is the previous time point of the time point when the fourth amplitude does not exceed the second preset amplitude.

[0037] On the other hand, when the number of input shapers is multiple, inputting the target vibration damping coefficient into the input shaper to suppress end vibration includes:

[0038] Input the target vibration damping coefficient into the current input shaper to obtain the actual position information of the load; wherein, multiple input shapers are connected in series, and the first input to the input shaper is the first input shaper in series;

[0039] When the actual position information exceeds the preset range corresponding to the preset position information, return to the step of determining the vibration characteristic parameters corresponding to each target segment according to the disturbance point segmentation strategy within the damped oscillation curve of the end load, and re-determine the vibration characteristic parameters to determine a new target vibration damping coefficient;

[0040] Take the next input shaper of the current input shaper as the new current input shaper, and return to the step of inputting the target vibration damping coefficient into the current input shaper until the obtained actual position information does not exceed the preset range corresponding to the preset position information.

[0041] To solve the above technical problems, the present invention also provides a servo system, including a controller, a motor, and a load end;

[0042] The controller is connected to the motor;

[0043] The motor is connected to the load end through a transmission mechanism;

[0044] The controller is used to execute the steps of the method for suppressing end vibration described above to suppress end vibration.

[0045] To solve the above technical problems, the present invention also provides a device for suppressing end vibration, including:

[0046] A first determination module, configured to determine vibration characteristic parameters corresponding to each target segment according to a disturbance point segmentation strategy within the damped oscillation curve of the end load;

[0047] A second determination module, configured to determine a corresponding vibration damping coefficient based on the vibration characteristic parameters of each of the target segments; wherein, the vibration damping coefficient is obtained by simplifying the constraint equation of the input shaper;

[0048] A third determination module, configured to determine a target vibration damping coefficient according to each of the vibration damping coefficients and input it into the input shaper to suppress end vibration.

[0049] To solve the above technical problems, the present invention also provides an electronic device, including:

[0050] A memory, configured to store a computer program;

[0051] A processor, configured to implement the steps of the method for suppressing end vibration described above when executing the computer program.

[0052] A method for suppressing end vibration provided by the present invention determines vibration characteristic parameters within each target segment by using a disturbance point segmentation strategy within a determined damped oscillation curve. The use of disturbance point segmentation is based on the fact that when the end load is disturbed, there is a large deviation between the calculated vibration suppression coefficient and the theoretical vibration suppression coefficient in subsequent calculations, which affects the vibration suppression effect. To eliminate the disturbance, the target segments are completed using the time period corresponding to the disturbance point, and the vibration suppression coefficients are separately identified in each target segment. Through separate identification of segments, appropriate target vibration suppression coefficients are determined based on each vibration suppression coefficient, further improving the stability and accuracy of vibration suppression coefficient identification. Through the determined target vibration suppression coefficients, they are input into an input shaper to achieve the effect of suppressing end vibration and improve the positioning speed and positioning accuracy of the system.

[0053] In addition, the present invention also provides a servo system, a device for suppressing end vibration, and an electronic device, which have the same beneficial effects as the above-mentioned method for suppressing end vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] To more clearly illustrate the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0055] Figure 1 It is a flowchart of a method for suppressing end vibration provided by an embodiment of the present invention;

[0056] Figure 2 It is a block diagram of an adaptive end vibration suppression system provided by an embodiment of the present invention;

[0057] Figure 3 It is a structural diagram of a device for suppressing end vibration provided by an embodiment of the present invention;

[0058] Figure 4 It is a structural diagram of an electronic device provided by an embodiment of the present invention;

[0059] Figure 5 It is a flowchart of another method for suppressing end vibration provided by an embodiment of the present invention;

[0060] Figure 6 It is a flowchart of a method for suppressing end vibration provided by another embodiment of the present invention;

[0061] Figure 7 It is a schematic diagram for extracting vibrations involved without disturbance provided by an embodiment of the present invention;

[0062] Figure 8 It is a schematic diagram for extracting residual vibrations with disturbance provided by an embodiment of the present invention;

[0063] Figure 9 This is a comparison diagram of the adaptive vibration damping effect provided by the embodiment of the present invention without considering process vibration and disturbance;

[0064] Figure 10 This is a comparison diagram of the adaptive vibration damping effect provided by the embodiment of the present invention without considering process vibration;

[0065] Figure 11 This is a comparison diagram of the adaptive vibration damping effect provided by the embodiment of the present invention;

[0066] Figure 12 This is a comparison diagram of the adaptive vibration damping effect of three data extraction mechanisms provided by the embodiment of the present invention. Detailed implementation manners

[0067] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0068] The core of the present invention is to provide a method for suppressing end vibration, a servo system, a suppression device, and a device to solve the problem that the positioning speed and positioning accuracy of the system are affected by end vibration.

[0069] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0070] There are three conventional methods for suppressing end vibration as follows:

[0071] 1. Optimize the mechanical structure: increase mechanical rigidity and damping to improve the vibration attenuation speed;

[0072] 2. Closed-loop vibration suppression: Add a sensor to suppress vibration in a closed loop according to the vibration information feedback by the sensor;

[0073] 3. Input shaping: Use a zero vibration shaper (Zero Vibration, ZV), a zero vibration derivative shaper (Zero Vibration Derivative, ZVD), a notch filter, etc. to shape the input command.

[0074] Among them, optimizing the mechanical structure and the closed-loop vibration damping method not only have great implementation difficulties, but also require additional costs, severely limiting their application scenarios. Without increasing costs, the input shaper can effectively suppress the end vibration. However, when designing the shaper, the natural oscillation frequency and damping coefficient of the object need to be considered, and it is relatively complex to calculate and manually set based on the vibration curve, and the calculation accuracy is difficult to guarantee. The end vibration suppression method provided by the present invention can solve the above technical problems.

[0075] Figure 1 It is a flowchart of a method for suppressing end vibration provided by an embodiment of the present invention. As Figure 1 shown, the method includes:

[0076] S11: Within the decay oscillation curve of the end load, determine the vibration characteristic parameters corresponding to each target segment according to the disturbance point segmentation strategy.

[0077] S12: Determine the corresponding vibration damping coefficient based on the vibration characteristic parameters of each target segment; among them, the vibration damping coefficient is simplified from the constraint equation of the input shaper.

[0078] S13: Determine the target vibration damping coefficient according to each vibration damping coefficient and input it into the input shaper to suppress the end vibration.

[0079] Specifically, this embodiment can be applied to application scenarios such as robotic arms and flexible connectors, and can also be applied to scenarios of servo systems such as positioning devices, which are not limited here and can be set according to actual situations. The vibration period of the decay oscillation curve of the end load is the time period required for the system amplitude to gradually decrease until it stabilizes under the action of damping. Within this vibration period, there is residual vibration collected based on the decay oscillation curve, which can be directly collected according to the position command or determined in real time after determining the existence of end vibration. The determination of the end of the vibration period of the decay oscillation curve ends at the time point corresponding to when the vibration does not exceed a certain value.

[0080] The disturbance point segmentation strategy is considered that when the end load is disturbed during the damped vibration, the amplitude will change, and the vibration during the period before and after the disturbance no longer conforms to the damped decay vibration. By segmenting at the disturbance point, the disturbance point is excluded from participating in the data calculation. The previous time point of the current disturbance point is used as the end time point of the previous target segment, and the next time point of the current disturbance point is used as the start time point of the next target segment, that is, the disturbance point is used as the demarcation point for subsequent segmentation marks.

[0081] Determine the vibration characteristic parameters corresponding to each target segment according to the disturbance point segmentation strategy. Here, the vibration characteristic parameters include the amplitude and the time points corresponding to the amplitude. It should be noted that relying on the vibration period, starting from the time point of the maximum amplitude determined within the decaying oscillation curve, calculate cumulatively backward, and gradually calculate the time points corresponding to the i-th vibration period. By traversing the time points corresponding to the i-th vibration period and the amplitudes corresponding to these time points, determine the next time point of the current disturbance point of the current target segment and the previous time point of the next disturbance point, thereby determining the amplitudes corresponding to the next time point of the current disturbance point of the current target segment and the previous time point of the next disturbance point respectively; that is, the time points under the amplitude of the current target segment are the next time point of the current disturbance point and the previous time point of the next disturbance point. Refine the extraction of the vibration characteristic parameters within each target segment obtained according to the disturbance points to each target segment.

[0082] In step S12, determine the corresponding vibration suppression coefficient for the vibration characteristic parameters of each target segment. The vibration suppression coefficient is a parameter used to describe the degree to which vibration is suppressed or weakened in the vibration control system, and is used to evaluate the effectiveness of vibration control measures. It should be noted that the vibration suppression coefficient in this embodiment is simplified from the constraint equation of the input shaper. The calculation of the damping coefficient corresponding to the system of the conventional ZV shaper is relatively complex and takes a long time. In this embodiment, instead of directly calculating the system damping coefficient, the system damping coefficient is combined with the natural oscillation frequency and simplified into a vibration suppression coefficient for subsequent calculations, saving the calculation amount and calculation time. Among them, the number of vibration suppression coefficients is the same as the number of segments of the target segment.

[0083] The input shaper here can be a ZV shaper, a ZVD shaper, or other input shapers, which are not limited here and can be selected according to the actual situation.

[0084] Determine the target vibration suppression coefficient according to each vibration suppression coefficient. To improve the stability of the calculation, processing means such as arithmetic mean filtering, extreme value removal average filtering, weighted average filtering, and moving average filtering can be performed on the calculation results. Taking the case of having 2 disturbance points and using arithmetic mean filtering as an example, assuming the vibration suppression coefficients calculated for 3 segments are , , , then the final vibration suppression coefficient is:

[0085] .

[0086] During the averaging process, the disturbance point interference caused by the process vibration is excluded, ensuring the stability and accuracy of the vibration suppression coefficient identification result.

[0087] Input the finally obtained target vibration suppression coefficient into the input shaper to suppress the end vibration.Figure 2 The block diagram of an adaptive end vibration suppression system provided by an embodiment of the present invention is as follows. Figure 2 As shown, first, detect the residual vibration of the position deviation after shutdown, use the suppression method of the above embodiment to identify the vibration frequency and vibration suppression coefficient, set them to the input shaper, and then suppress the end vibration.

[0088] A method for suppressing end vibration provided by an embodiment of the present invention. Within the determined damped oscillation curve, a disturbance point segmentation strategy is adopted to determine the vibration characteristic parameters in each target segment. The adoption of disturbance point segmentation is based on the fact that when the end load is disturbed, there is a large deviation between the calculated vibration suppression coefficient and the theoretical vibration suppression coefficient in its subsequent calculation, which affects the vibration suppression effect. In order to eliminate the disturbance, the time period corresponding to the disturbance point is used to complete the target segment, and the vibration suppression coefficient is separately identified in each target segment. Through separate identification of segments, appropriate target vibration suppression coefficients are determined according to each vibration suppression coefficient, further improving the stability and accuracy of vibration suppression coefficient identification. Through the determined target vibration suppression coefficient, it is input to the input shaper to achieve the effect of suppressing end vibration and improve the positioning speed and positioning accuracy of the system.

[0089] In some embodiments, the process of determining the damped oscillation curve includes:

[0090] Obtain a first preset amplitude and a first preset number of vibrations;

[0091] Monitor the third amplitude of the load;

[0092] When the third amplitude exceeds the first preset amplitude and the number of vibrations of the third amplitude exceeding the first preset amplitude reaches the first preset number of vibrations, it is determined that the load has end vibration;

[0093] Count the number of vibrations of the fourth amplitude exceeding the second preset amplitude after the end vibration;

[0094] When the number of vibrations of the fourth amplitude exceeding the second preset amplitude reaches the second preset number of vibrations, end the acquisition of the load, and use the fluctuation curve corresponding to the time when the statistical time of the existing end vibration reaches the first preset time point as the damped oscillation curve; where the first preset time point is the previous time point of the time point when the fourth amplitude does not exceed the second preset amplitude.

[0095] Specifically, the vibration period of the damped oscillation curve is collected when there is end vibration of the load. When there is no position command, it is necessary to collect the position deviation in real time, that is, to monitor the third amplitude of the load. Here, it is necessary to obtain the first preset amplitude and the first preset number of vibrations in advance. When the real-time third amplitude exceeds the first preset amplitude and the number of vibrations (the number of vibrations when the third amplitude exceeds the first preset amplitude) reaches the first preset number of vibrations, it is considered that there is end vibration, and the process vibration in the front-end convergence process needs to be discarded, and only the subsequent end vibration data is extracted and collected.

[0096] Continue to count the real-time fourth amplitude after the end vibration, and obtain the second preset amplitude and the second preset number of vibrations in advance. It should be noted that the magnitude relationship between the third amplitude and the fourth amplitude is irrelevant, and the magnitude relationship between the first preset number of vibrations and the second preset number of vibrations is irrelevant.

[0097] When the number of fluctuations in which the fourth amplitude exceeds the second preset amplitude reaches the second preset number of vibrations, the collection of the load ends, that is to say, the corresponding collection period is effectively collected. The collection period is the entire time period between the statistical time of the end vibration and the first preset time point as the vibration period of the damped oscillation curve. The first preset time point is the previous time point of the time point when the fourth amplitude does not exceed the second preset amplitude.

[0098] Regarding the setting of the first preset amplitude, in order to make all the collected data be effectively utilized and improve the identification accuracy of the vibration damping coefficient, it is necessary to judge the amplitude at the time point corresponding to the maximum collection period of all the collected data. If this amplitude is greater than the vibration tolerance value (the first preset amplitude), it is formally extracted to avoid introducing sampling errors due to too small a value. The meaning of the vibration tolerance value is that when the actual amplitude is greater than or equal to the vibration tolerance value, it is considered that the system has a vibration phenomenon; when the actual amplitude is less than the vibration tolerance value, it is considered that the system does not have a vibration phenomenon. The vibration tolerance value is set by the user according to the positioning requirements in actual applications.

[0099] Regarding the identification of the vibration frequency, within this damped oscillation curve, the collected data is analyzed by fast Fourier transform (FFT) to obtain the vibration frequency corresponding to the maximum amplitude.

[0100] The data collection in this embodiment under the condition of determining end vibration corresponds to an effective collection method, which improves the accuracy and stability of collection. At the same time, it does not require any instruction input, automatically detects vibration, improves automation, and has a wide range of applications.

[0101] In some embodiments, according to the disturbance point segmentation strategy, the vibration characteristic parameters corresponding to each target segment are determined, including:

[0102] Determine the first time point corresponding to the maximum amplitude within the decaying oscillation curve;

[0103] Starting from the first time point, traverse the amplitudes corresponding to each time point; wherein, each time point is determined by the first time point and the vibration period of the decaying oscillation curve;

[0104] Determine the amplitude perturbation according to the amplitude principle and each amplitude, and take the time point corresponding to the amplitude perturbation as the perturbation point; wherein, the amplitude principle is that the next amplitude is greater than or equal to the current amplitude;

[0105] Determine the corresponding target segment according to each perturbation point and the first time point, so as to determine the amplitudes corresponding to the next time point of the current perturbation point and the previous time point of the next perturbation point within each target segment;

[0106] Take the next time point of the current perturbation point and the previous time point of the next perturbation point within each target segment, and their respective corresponding amplitudes as the vibration characteristic parameters corresponding to each target segment.

[0107] Specifically, determine the first time point corresponding to the maximum amplitude within the decaying oscillation curve, that is , and the corresponding maximum amplitude is denoted as . Starting from the first time point, traverse the amplitudes corresponding to each time point. It should be noted that each time point here is determined by the first time point and the vibration period, that is to say, on the time axis, starting from the first time point as the starting point, pushing backward the i-th vibration period can determine the time point corresponding to the i-th vibration period. Based on the time point corresponding to the i-th vibration period, its amplitude can be determined. The specific formula for determining the time point corresponding to the i-th vibration period is as follows:

[0108] ;

[0109] Or, ;

[0110] Wherein, is the first time point, is the i-th vibration period, is the vibration frequency, is the time point corresponding to the i-th vibration period; is the vibration period.

[0111] It can be understood that in this embodiment, the total number of vibration periods is known. The time points corresponding to each vibration period are calculated by the above formula. While calculating each time point, the amplitude corresponding to each time point is also determined. By traversing the amplitudes of each time point, the amplitude perturbation can be determined according to the amplitude principle. Determine the amplitude perturbation according to the amplitude principle and each amplitude, and its amplitude principle is , that is, when the next amplitude is greater than or equal to the current amplitude, the time point corresponding to the next amplitude will be used as the perturbation point. The change in the next amplitude indicates that there is a perturbation in the next amplitude, which is determined as an amplitude perturbation. Once an amplitude perturbation is determined, it means that the vibration during this period before and after the perturbation no longer conforms to damped decay vibration.

[0112] There can be one or more perturbation points within the decay oscillation curve. Each target segment is obtained by corresponding segmentation according to each perturbation point and the first time point. In this embodiment, considering the process vibration caused by external perturbation, which does not participate in data calculation, that is, the perturbation point does not participate in data calculation, and the corresponding target segments are obtained by segmenting with the perturbation point as the segmentation point.

[0113] After the target segments are determined, the amplitudes corresponding to the next time point of the current perturbation point and the previous time point of the next perturbation point in each target segment are determined. The starting point in the first target segment is the first time point, and the ending point is the previous time point of the first perturbation point. Here, each time point is the corresponding sampling time point, and the intervals between each time point are the same.

[0114] For example: polling the amplitude , if , it is considered that is the process vibration caused by external perturbation and does not participate in data calculation. And so on, segment by the perturbation point. Suppose , , then a total of , perturbations at two points are detected, where . Furthermore, it can be divided into 3 segments, and the corresponding coefficients are as follows:

[0115] 1. ;

[0116] 2. ;

[0117] 3. ;

[0118] After obtaining the coefficients, the vibration damping coefficients , , can be obtained respectively.

[0119] The vibration characteristic parameters provided in this embodiment are mainly each amplitude and the time point corresponding to each amplitude, which are extracted in each target segment to facilitate obtaining the vibration damping coefficients corresponding to each target segment later. Determine the amplitude perturbation through the amplitude principle and each amplitude to facilitate determining each perturbation point, perform perturbation segmentation according to each perturbation point, exclude the perturbation, and improve the accuracy of positioning.

[0120] In some embodiments, determining a corresponding target segment according to each perturbation point and the first time point includes:

[0121] Taking the time point between the next time point corresponding to the previous perturbation point of the current perturbation point and the previous time point of the current perturbation point starting from the current perturbation point as the current target segment; wherein, when the current perturbation point is the first perturbation point, the time point between the first time point and the previous time point of the current perturbation point is used as the current target segment, and the first perturbation point is greater than the first time point;

[0122] Taking the time point between the next time point of the current perturbation point and the previous time point of the next perturbation point as the next segment of the current target segment;

[0123] And so on, until the time point between the next time point of the last perturbation point and the time point corresponding to the last vibration period of the decaying oscillation curve is used as the last target segment.

[0124] Specifically, the time point between the next time point corresponding to the previous perturbation point of the current perturbation point and the previous time point of the current perturbation point is used as the current target segment; wherein, when the current perturbation point is the first perturbation point. Starting from the first perturbation point, the time point between the first time point and the previous time point of the first perturbation point is used as the first target segment, and the first perturbation point is greater than the first time point. The time point between the next time point of the current perturbation point and the previous time point of the next perturbation point is used as the next target segment, and so on, until the time point between the next time point of the last perturbation point and the time point corresponding to the last vibration period is used as the last target segment, so that all target segments are segmented based on each perturbation point.

[0125] In the process of determining each target segment provided in this embodiment based on each perturbation point, by identifying and excluding the perturbation points caused by external interference, the influence of interference on the system stability is reduced, and the response performance and stability of the system are improved. By excluding the perturbation points, it can better adapt to the changes in the external environment and enhance the robustness.

[0126] In some embodiments, determining a corresponding vibration damping coefficient based on the vibration characteristic parameters of each target segment includes:

[0127] Taking the next time point of the current perturbation point of the current target segment as the second time point;

[0128] Taking the previous time point of the next perturbation point of the current perturbation point of the current target segment as the third time point;

[0129] Obtaining the amplitude corresponding to the second time point and using it as the first amplitude;

[0130] Obtaining the amplitude corresponding to the third time point and using it as the second amplitude;

[0131] Determine a decay oscillation function of the current target segment according to the first amplitude, the second time point, the second amplitude and the third time point;

[0132] Obtaining a vibration damping function corresponding to the constraint equation of the input shaper; wherein the parameters of the vibration damping function include a vibration period;

[0133] The vibration damping coefficient of the current target segment is determined according to the damping oscillation function and the vibration damping function of the current target segment; wherein the number of the vibration damping coefficients is the same as the number of the target segment.

[0134] Specifically, taking the first target segment as an example, it is necessary to obtain the amplitude corresponding to the previous time point of the maximum amplitude and the first disturbance point in the attenuated oscillation curve in which the target segment is mapped, and use them as the first amplitude and the second amplitude respectively. The time points corresponding to the two amplitudes are respectively used as the second time point and the third time point, and its attenuated oscillation function is determined by two amplitudes and two time points. It is worth noting that the second time point of each target segment corresponds to the first time point of the maximum amplitude in the first target segment. It should be noted that the attenuated oscillation function here is the same as the determination process of the attenuated oscillation function corresponding to the pulse segmentation processing of the conventional input shaper, and is not limited here. Taking peak a as an example, its corresponding first amplitude is The second time point is , the second amplitude is The third time point is , the amplitude at the initial moment is , the specific formula is as follows:

[0135] ;

[0136] in, is the damping coefficient of the system, is the natural oscillation frequency.

[0137] The vibration damping function is obtained by simplifying the constraint equation of the input shaper. Taking the ZV shaper as an example, its specific formula is:

[0138] ;

[0139] in, is the vibration damping coefficient, is the vibration period of the decay oscillation curve, that is, the terminal vibration period.

[0140] According to the above two formulas, the vibration control coefficient of the current target segment is obtained by combining them. That is to say, the damping coefficient of the system is simplified by combining it with the natural oscillation frequency. It should be noted here that the natural oscillation frequency can be obtained by FFT calculation. The actual calculation of the damping coefficient of the system is relatively complicated. Therefore, the damping coefficient of the system is combined with the natural oscillation frequency to simplify it to obtain the vibration control coefficient.

[0141] It should be noted that by simplifying the vibration damping coefficient, the complexity and calculation time are reduced. The technical solution in this embodiment is applicable to automatic vibration detection and suppression without human intervention. In addition, when the system does not use adaptive vibration damping, that is, when the adaptive vibration damping is not enabled, the present embodiment is also applicable. At this time, the user manually measures the position deviation after shutdown, that is, the vibration data, which is the same as the vibration data collection process of the system and is not limited here. The natural oscillation frequency is obtained by manual measurement, and the vibration period can be determined by the natural oscillation frequency. Combined with the attenuated oscillation function and the vibration damping function of the current target segment of the above formula, the corresponding amplitude and vibration period in the data collected by the user are combined, and the vibration damping coefficient can be quickly obtained by formula combination. Specifically, depending on the vibration cycle, the time point of the maximum amplitude is determined in the attenuated oscillation curve, and the cumulative calculation is started, and the corresponding time point under the i-th vibration cycle is gradually calculated. By traversing the time points and corresponding amplitudes corresponding to the i-th vibration cycle, the next time point of the current disturbance point of the current target segment and the previous time point of the next disturbance point are determined, thereby determining the amplitudes corresponding to the next time point of the current disturbance point and the previous time point of the next disturbance point of the current target segment; that is, the time point under the amplitude of the current target segment is the next time point of the current disturbance point and the previous time point of the next disturbance point. Here, the time point under the amplitude of the current target segment is the next time point of the current disturbance point and the previous time point of the next disturbance point, and the corresponding amplitudes are used as vibration characteristic parameters. Then, the vibration damping coefficient of each target segment is determined based on the vibration characteristic parameters. It is worth noting that the vibration characteristic parameters of each target segment can be used to obtain the data corresponding to the multiplication of the damping coefficient and the natural oscillation frequency of the system, and then combined with the vibration period in the above formula for obtaining the vibration damping coefficient, the vibration damping coefficient of each target segment can be finally determined.

[0142] Here, the damping coefficient of the system is identified in a scenario where adaptive vibration control is not enabled (no mechanical characteristic analysis is required), which greatly reduces the complexity of the algorithm interface. This embodiment simplifies the input shaper, that is, the damping coefficient of the system is simplified in combination with the natural oscillation frequency to obtain the vibration control coefficient. Compared with the conventional input shaper to calculate the damping coefficient of the system, this embodiment reduces the calculation complexity and time consumption without affecting the vibration control.

[0143] In some embodiments, the process of determining the vibration damping function includes:

[0144] Obtaining a constraint equation of an input shaper, wherein the constraint equation includes a first delay time function, a first pulse amplitude function, and a second pulse amplitude function;

[0145] Set the damped oscillation frequency of the first delay time function to the end vibration angular frequency to obtain the second delay time function through simplification processing;

[0146] Simplify the damping effect parameters corresponding to the first pulse amplitude function and the second pulse amplitude function into the initial vibration damping coefficient;

[0147] Determine the vibration damping function according to the constraint equation, the simplified second delay time function, and the simplified first pulse amplitude function and second pulse amplitude function corresponding to the initial vibration damping coefficient.

[0148] Specifically, taking the ZV shaper as an example, the form of the input shaper is: ;

[0149] Among them, is the input shaping signal in the frequency domain after Laplace transform; is the time delay, is the amplitude of the pulse at time 0, is the amplitude of the pulse after the time delay; s is the complex frequency variable in the Laplace transform.

[0150] It can be obtained from the constraint equation:

[0151] ;

[0152] Among them, is the time delay, is the amplitude of the pulse at time 0, is the amplitude of the pulse after the time delay, is the damped oscillation frequency of the system, is the damping coefficient of the system, is the natural oscillation frequency of the system. The functions from top to bottom of the constraint equation are the first delay time function, the first pulse amplitude function, and the second pulse amplitude function in turn.

[0153] The shaper of this embodiment needs to set the damping coefficient of the system, the natural oscillation frequency

[0154] ;

[0155] As the above-transformed constraint equation, from top to bottom, they are: the simplified second delay time function, the simplified first pulse amplitude function corresponding to the initial vibration damping coefficient, and the second pulse amplitude function. In the second delay time function, the natural oscillation frequency Set as the angular frequency of the end vibration The damping effect parameter in the above first pulse amplitude function and second pulse amplitude function is simplified to the initial vibration damping coefficient K 1 .

[0156] Among them, is the time delay, is the amplitude of the pulse at time 0, is the amplitude of the pulse after the time delay, is the angular frequency of the end vibration, which is the same concept as the damping oscillation frequency of the system in the above formula, is the vibration frequency. Here, it can be obtained that the relationship between the vibration frequency and the natural oscillation frequency is ; is the vibration period of the damped oscillation curve, that is, the end vibration period; K 1 is the initial vibration damping coefficient.

[0157] That is to say, although the vibration damping parameters to be set by the shaper include two parameters, the vibration frequency and the vibration damping coefficient K in the formula, the vibration frequency can be directly obtained by FFT calculation.

[0158] Its final vibration damping function is: , where since it corresponds to the initial vibration damping coefficient, it is the vibration damping function of the initial vibration damping coefficient.

[0159] The simultaneous process here is to make the first delay time function the same as the second delay time function, that is .

[0160] Combined with , that is .

[0161] The determination process of the vibration damping function provided by this embodiment is convenient for subsequent calculation of the vibration damping coefficients in each target segment, improving the accuracy while reducing the calculation complexity and time consumption.

[0162] In some embodiments, when the number of input shapers is multiple, inputting the target vibration damping coefficient to the input shaper to suppress the end vibration includes:

[0163] Inputting the target vibration damping coefficient to the current input shaper to obtain the actual position information of the load; among them, multiple input shapers are connected in series, and the first input to the input shaper is the first series-connected input shaper;

[0164] When the actual position information exceeds the preset range corresponding to the preset position information, return to the step of determining the vibration characteristic parameters corresponding to each target segment according to the disturbance point segmentation strategy within the decaying oscillation curve of the end load, and re-determine the vibration characteristic parameters to determine the new target vibration damping coefficient;

[0165] Take the next input shaper of the current input shaper as the new current input shaper, and return to the step of inputting the target vibration damping coefficient into the current input shaper until the obtained actual position information does not exceed the preset range corresponding to the preset position information.

[0166] Specifically, input the target vibration damping coefficient into the current input shaper, obtain the corresponding actual position information, and combine Figure 2 Looking at it, if there is a large deviation between the actual position information and the preset position information, that is, the actual position information exceeds the preset range corresponding to the preset position information, it is necessary to return to step S11 to recalculate the new target vibration damping coefficient and input it into the next input shaper in series until the deviation between the obtained actual position information and the preset position information is less than a certain preset range.

[0167] With multiple input shapers in series provided in this embodiment, if one input shaper cannot effectively suppress the end vibration, the above process can be repeated, and the vibration damping coefficient can be identified multiple times to automatically enable the series input shaper to achieve the function of a high-order input shaper and improve the universality of vibration damping.

[0168] Furthermore, the present invention also provides a servo system, including a controller, a motor, and a load end;

[0169] The controller is connected to the motor;

[0170] The motor is connected to the load end through a transmission mechanism;

[0171] The controller is used to execute the steps of the above-mentioned method for suppressing end vibration to suppress end vibration.

[0172] For the introduction of a servo system provided by the present invention, please refer to the above method embodiment. The present invention will not repeat it here, and it has the same beneficial effects as the above method for suppressing end vibration.

[0173] The above details various embodiments corresponding to the method for suppressing end vibration. On this basis, the present invention also discloses an apparatus for suppressing end vibration corresponding to the above method, Figure 3 which is a structural diagram of an apparatus for suppressing end vibration provided by an embodiment of the present invention. As Figure 3 shown, the apparatus for suppressing end vibration includes:

[0174] The first determination module 11 is configured to determine vibration characteristic parameters corresponding to each target segment according to a disturbance point segmentation strategy within the damped oscillation curve of the end load;

[0175] The second determination module 12 is configured to determine corresponding vibration damping coefficients based on the vibration characteristic parameters of each target segment; wherein, the vibration damping coefficient is obtained by simplifying the constraint equation of the input shaper;

[0176] The third determination module 13 is configured to determine a target vibration damping coefficient according to each vibration damping coefficient and input it into the input shaper to suppress end vibration.

[0177] Since the embodiments of the device part correspond to the above embodiments, the embodiments of the device part are described with reference to the embodiments of the above method part and will not be elaborated herein.

[0178] For the introduction of a device for suppressing end vibration provided by the present invention, please refer to the above method embodiments. The present invention will not be elaborated herein, and it has the same beneficial effects as the above method for suppressing end vibration.

[0179] Figure 4 The following is a structural diagram of an electronic device provided by an embodiment of the present invention. As Figure 4 shown, the device includes:

[0180] A memory 21 for storing a computer program;

[0181] A processor 22 for implementing the steps of the method for suppressing end vibration when executing the computer program.

[0182] Among them, the processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 22 may be implemented in at least one hardware form of a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the wake state, also known as the Central Processing Unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 22 may be integrated with a Graphics Processing Unit (GPU), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 22 may further include an Artificial Intelligence (AI) processor, and the AI processor is used to process computational operations related to machine learning.

[0183] The memory 21 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 21 may further include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In this embodiment, the memory 21 is at least used to store the following computer program 211. After the computer program is loaded and executed by the processor 22, it can implement the relevant steps of the method for suppressing terminal vibration disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 21 may further include an operating system 212 and data 213, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include, but is not limited to, the data involved in the method for suppressing terminal vibration, etc.

[0184] In some embodiments, the electronic device may further include a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27.

[0185] Those skilled in the art can understand that Figure 4 the structure shown in

[0186] does not constitute a limitation on the electronic device, and it may include more or fewer components than shown in the figure. The processor 22 realizes the method for suppressing terminal vibration provided in any of the foregoing embodiments by calling the instructions stored in the memory 21.

[0187] For the introduction of an electronic device provided by the present invention, please refer to the above method embodiments, and the present invention will not be elaborated herein. It has the same beneficial effects as the above method for suppressing end vibration.

[0188] Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor 22, the steps of the method for suppressing end vibration as described above are implemented.

[0189] It can be understood that if the method in the above embodiments is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and executes all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0190] For the introduction of a computer-readable storage medium provided by the present invention, please refer to the above method embodiments, and the present invention will not be elaborated herein. It has the same beneficial effects as the above method for suppressing end vibration.

[0191] In some other embodiments, Figure 5 is a flowchart of another method for suppressing end vibration provided by an embodiment of the present invention, as Figure 5 shown, including:

[0192] S21: Simplify the natural oscillation frequency and damping coefficient of the system into an easily identifiable vibration suppression coefficient.

[0193] S22: Real-time collect the third amplitude after shutdown. When the third amplitude exceeds the first preset amplitude and the number of vibrations with the third amplitude exceeding the first preset amplitude reaches the first preset number of vibrations, it is determined that the load has end vibration; count the number of vibrations with the fourth amplitude exceeding the second preset amplitude after end vibration. If it reaches the second preset number of vibrations, end the collection of the load; use the fluctuation curve corresponding to the time from the statistical time of end vibration to the first preset time point as the damped oscillation curve.

[0194] S23: Perform FFT analysis on the collected data within the damped oscillation curve to obtain the vibration frequency corresponding to the maximum amplitude.

[0195] S24: Find the first time point corresponding to the maximum amplitude and use it as the starting point to traverse the amplitudes corresponding to each time point. Determine the amplitude perturbation according to the amplitude principle and each amplitude, and use the time point corresponding to the amplitude perturbation as the perturbation point; determine the corresponding target segment according to each perturbation point and the first time point, so as to determine the amplitudes corresponding to the next time point of the current perturbation point and the previous time point of the next perturbation point within each target segment; use the next time point of the current perturbation point and the previous time point of the next perturbation point within each target segment, as well as their respective corresponding amplitudes, as the vibration characteristic parameters corresponding to each target segment.

[0196] S25: Determine the corresponding vibration damping coefficient based on the vibration characteristic parameters of each target segment, and obtain the target vibration damping coefficient after weighted averaging of each vibration damping coefficient.

[0197] S26: Automatically connect in series an input shaper according to the identification result of the target vibration damping coefficient to realize the design of a high-order shaper.

[0198] It should be noted that the simplified vibration damping coefficient in step S21 is the initial vibration damping coefficient determined based on the vibration damping function. The specific determination process of the vibration damping function can refer to the above embodiments and will not be elaborated here. The vibration damping coefficients of each target segment in step S25 are obtained by substituting each vibration characteristic parameter into the vibration damping function, which can refer to the above embodiments and will not be elaborated here.

[0199] Figure 6 The flowchart of a method for suppressing end vibration provided by another embodiment of the present invention is shown in Figure 6 as follows and includes:

[0200] S31: Determine whether adaptive vibration damping enabling is achieved; if so, proceed to step S32, if not, end.

[0201] S32: Determine whether there is a position command; if so, return to step S31, if not, proceed to step S33.

[0202] S33: Collect the third amplitude after shutdown, and increment the number of vibrations by 1 when the third amplitude is greater than the first preset amplitude.

[0203] S34: Determine whether the number of vibrations within a fixed time is greater than the first preset number of vibrations; if so, proceed to step S35, if not, return to step S31.

[0204] S35: Clear the number of vibrations to 0 and determine that there is end vibration of the load.

[0205] S36: Count the number of vibrations in which the fourth amplitude after end vibration exceeds the second preset amplitude.

[0206] S37: Determine whether the number of vibrations in which the fourth amplitude after the end vibration exceeds the second preset amplitude reaches the second preset number of vibrations. If so, proceed to step S38; if not, return to step S36.

[0207] S38: Within the damped oscillation curve, perform FFT analysis on the collected data to obtain the vibration frequency corresponding to the maximum amplitude.

[0208] S39: Find the first time point corresponding to the maximum amplitude and use it as the starting point to traverse the amplitudes corresponding to each time point. Determine the amplitude perturbation according to the amplitude principle and each amplitude, and use the time point corresponding to the amplitude perturbation as the perturbation point; determine the corresponding target segment according to each perturbation point and the first time point, so as to determine the amplitudes corresponding to the next time point of the current perturbation point and the previous time point of the next perturbation point within each target segment; use the next time point of the current perturbation point and the previous time point of the next perturbation point within each target segment, and their respective corresponding amplitudes as the vibration characteristic parameters corresponding to each target segment.

[0209] S40: Determine the corresponding vibration damping coefficient based on the vibration characteristic parameters of each target segment, calculate the weighted average of each vibration damping coefficient and output the target vibration damping coefficient, and end.

[0210] For the specific process of obtaining the vibration damping coefficient in step S40, reference can be made to the above embodiments and will not be elaborated here.

[0211] Simulate and verify the function of the vibration damping coefficient of the embodiment of the present invention in Matlab / Simulink, establish a two-mass load system, with an anti-resonant frequency of 20 Hz, a resonant frequency of 100 Hz, the inertia of the body , an inertia ratio of 24 times, and a viscous friction coefficient of 0.001 N·m / rad / s. The acquisition frequency is 10 kHz, the rotational speed command has an amplitude of 1000 r / min, the set vibration tolerance value is 30 pulse (encoder resolution 131072 pulse), and the number of front-end process vibrations is 2 times.

[0212] Figure 7 It is a schematic diagram for extracting vibrations involved without disturbance provided by the embodiment of the present invention. As Figure 7 shown, it is an example of extracting residual vibrations without disturbance. Select data and discard the first 2 times of process vibrations at the front end. When the amplitude is less than the vibration tolerance value, the calculation of the vibration damping coefficient is not performed. When a disturbance is suddenly applied during the convergence process. Figure 8 It is a schematic diagram for extracting residual vibrations with disturbance provided by the embodiment of the present invention. As Figure 8 shown, it is an example of extracting residual vibrations with disturbance. When the damping decay vibration law of is not satisfied, the interference is considered discarded.

[0213] Next, for the effective benefits of the residual vibration extraction and segmented data processing mechanism of the present invention, in the simulation, the path is a trapezoidal wave with a speed command of 1000 rpm and an acceleration / deceleration time of 20 ms.

[0214] Figure 9 The following is a comparison chart of the adaptive vibration damping effect provided by the embodiment of the present invention without considering process vibration and disturbance, as Figure 9 shown. The process vibration data with front-end convergence is not discarded, and at the same time, disturbance processing is not performed, thus introducing interference in frequency analysis and coefficient calculation. The vibration frequency analyzed by FFT is 17.9 Hz, and the vibration damping coefficient is 0.918. After parameter setting, the amplitude attenuation is obvious, but there is still a residual vibration with a peak-to-peak value of ; where the peak-to-peak value is the difference between the positive peak and the negative peak.

[0215] Figure 10 The following is a comparison chart of the adaptive vibration damping effect provided by the embodiment of the present invention without considering process vibration, as Figure 10 shown. The process vibration data with front-end convergence is not discarded, and only anti-disturbance processing is performed, thus introducing interference in frequency analysis and coefficient calculation. The vibration frequency analyzed by FFT is 18.5 Hz, and the determined vibration damping coefficient is 0.924. After parameter setting, the amplitude attenuation is obvious, but there is still a residual vibration with a peak-to-peak value of .

[0216] Figure 11 The following is a comparison chart of the adaptive vibration damping effect provided by the embodiment of the present invention, as Figure 11 shown. The process vibration data with front-end convergence is discarded and anti-disturbance processing is performed at the same time. The vibration frequency analyzed by FFT is 18.9 Hz, and the determined vibration damping coefficient is 0.805. After parameter setting, the amplitude attenuation is obvious, and there is basically no residual vibration.

[0217] Figure 12 The following is a comparison chart of the adaptive vibration damping effect of three data extraction mechanisms provided by the embodiment of the present invention, as Figure 12 shown. It is a comparison example of three residual vibration extraction methods when decelerating to 0 under the same working conditions. It can be clearly seen that the vibration damping effect of the adaptive terminal vibration suppression of the present invention is the most prominent.

[0218] Generally speaking, for the method for suppressing terminal vibration in the embodiment of the present invention, the damping coefficient of the system is combined with the natural oscillation frequency to simplify and obtain the vibration damping coefficient; through the residual vibration determination extraction and segmented data calculation anti-disturbance mechanism, the process vibration interference is excluded, ensuring the stability and accuracy of the vibration damping coefficient identification result, having good anti-interference performance and strong reliability.

[0219] The above has introduced in detail a method for suppressing end vibration, a servo system, a suppression device, and a device provided by the present invention. The various embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. For the relevant parts, reference can be made to the description in the method part. It should be noted that for those of ordinary skill in the art of the present technology, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

[0220] It should also be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including an..." does not exclude the existence of another identical element in the process, method, article or device including the element.

Claims

1. A method for suppressing terminal vibration, characterized in that: include: In the attenuation oscillation curve of the end load, the vibration characteristic parameters corresponding to each target segment are determined according to the disturbance point segmentation strategy; Determining a corresponding vibration damping coefficient based on the vibration characteristic parameters of each target segment; wherein the vibration damping coefficient is obtained by simplifying the constraint equation of the input shaper; A target vibration damping coefficient is determined according to each of the vibration damping coefficients and is input to an input shaper to suppress terminal vibration.

2. The method for suppressing terminal vibration according to claim 1, characterized in that: According to the disturbance point segmentation strategy, the vibration characteristic parameters corresponding to each target segment are determined, including: Determining a first time point corresponding to a maximum amplitude in the decay oscillation curve; Starting from the first time point, traversing the amplitude corresponding to each time point; wherein each time point is determined by the first time point and the vibration period of the decay oscillation curve; Determine the amplitude disturbance according to the amplitude principle and each of the amplitudes, and use the time point corresponding to the amplitude disturbance as the disturbance point; wherein the amplitude principle is that the next amplitude is greater than or equal to the current amplitude; Determine a corresponding target segment according to each disturbance point and the first time point, so as to determine in each target segment an amplitude corresponding to a next time point of a current disturbance point and a previous time point of a next disturbance point in each target segment; The next time point of the current disturbance point and the previous time point of the next disturbance point in each target segment, as well as the corresponding amplitudes are used as the vibration characteristic parameters corresponding to each target segment.

3. The method for suppressing terminal vibration according to claim 2, characterized in that: Determining a corresponding target segment according to each disturbance point and the first time point includes: Starting from the current disturbance point, the current target segment is the period between the next time point corresponding to the previous disturbance point of the current disturbance point and the previous time point of the current disturbance point; when the current disturbance point is the first disturbance point, the period between the first time point and the previous time point of the current disturbance point is the current target segment, and the first disturbance point is greater than the first time point; The next segment of the current target segment is taken as the time between the next time point of the current disturbance point and the previous time point of the next disturbance point; And so on, until the time point next to the last disturbance point and the time point corresponding to the last vibration cycle of the decay oscillation curve is taken as the last target segment.

4. The method for suppressing terminal vibration according to claim 2 or 3, characterized in that: Determining a corresponding vibration damping coefficient based on the vibration characteristic parameters of each target segment includes: The next time point of the current disturbance point of the current target segment is taken as the second time point; The previous time point of the next disturbance point of the current disturbance point of the current target segment is taken as the third time point; Obtaining the amplitude corresponding to the second time point and using it as the first amplitude; Obtaining the amplitude corresponding to the third time point and using it as the second amplitude; Determine a decay oscillation function of the current target segment according to the first amplitude, the second time point, the second amplitude and the third time point; Obtaining a vibration damping function corresponding to the constraint equation of the input shaper; wherein the parameters of the vibration damping function include a vibration period; The vibration damping coefficient of the current target segment is determined according to the damping oscillation function of the current target segment and the vibration damping function; wherein the number of the vibration damping coefficients is the same as the number of segments of the target segment.

5. The method for suppressing terminal vibration according to claim 4, characterized in that: The process of determining the vibration damping function includes: Obtaining a constraint equation of an input shaper, wherein the constraint equation includes a first delay time function, a first pulse amplitude function, and a second pulse amplitude function; The damped oscillation frequency of the first delay time function is set as the terminal vibration angular frequency to obtain a second delay time function by performing a simplified process; Simplifying the damping effect parameters corresponding to the first pulse amplitude function and the second pulse amplitude function into initial vibration damping coefficients; The damping function is determined according to the constraint equation, the simplified second delay time function, the simplified first pulse amplitude function and the second pulse amplitude function corresponding to the initial damping coefficient.

6. The method for suppressing terminal vibration according to claim 5, characterized in that: The process of determining the decay oscillation curve includes: Obtaining a first preset amplitude and a first preset vibration number; monitoring the third amplitude of the load; When the third amplitude exceeds the first preset amplitude, and the number of vibrations by which the third amplitude exceeds the first preset amplitude reaches the first preset number of vibrations, it is determined that the load has terminal vibration; Counting the number of vibrations in which the fourth amplitude after the terminal vibration exceeds the second preset amplitude; When the number of vibrations at which the fourth amplitude exceeds the second preset amplitude reaches the second preset number of vibrations, the acquisition of the load is terminated to determine a fluctuation curve from the statistical time when the terminal vibration exists to the time corresponding to the first preset time point as the attenuated oscillation curve; wherein the first preset time point is the previous time point at which the fourth amplitude does not exceed the second preset amplitude.

7. The method for suppressing terminal vibration according to claim 1, characterized in that: When there are multiple input shapers, inputting the target vibration damping coefficient into the input shaper to suppress the terminal vibration comprises: Inputting the target vibration damping coefficient to the current input shaper to obtain the actual position information of the load; wherein the multiple input shapers are connected in series, and the first input to the input shaper is the first input shaper in the series; If the actual position information exceeds the preset range corresponding to the preset position information, return to the step of determining the vibration characteristic parameters corresponding to each target segment according to the disturbance point segmentation strategy within the attenuation oscillation curve of the end load, and re-determine the vibration characteristic parameters to determine a new target vibration damping coefficient; The next input shaper of the current input shaper is used as a new current input shaper to return to the step of inputting the target vibration damping coefficient into the current input shaper until the acquired actual position information does not exceed a preset range corresponding to the preset position information.

8. A servo system, characterized in that: Including controller, motor and load end; The controller is connected to the motor; The motor is connected to the load end through a transmission mechanism; The controller is used to execute the steps of the method for suppressing terminal vibration as described in any one of claims 1 to 7 to suppress terminal vibration.

9. A terminal vibration suppression device, characterized in that: include: A first determination module is used to determine the vibration characteristic parameters corresponding to each target segment according to the disturbance point segmentation strategy within the attenuation oscillation curve of the end load; A second determination module is used to determine a corresponding vibration damping coefficient based on the vibration characteristic parameters of each target segment; wherein the vibration damping coefficient is obtained by simplifying the constraint equation of the input shaper; The third determination module is used to determine a target vibration damping coefficient according to each of the vibration damping coefficients, so as to input the target vibration damping coefficient into an input shaper to suppress terminal vibration.

10. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the method for suppressing terminal vibration as described in any one of claims 1 to 7 when executing the computer program.

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