Flexible vibration suppression method and apparatus, industrial device, and readable storage medium

Abstract

The application discloses a flexible vibration suppression method and device, industrial equipment and a readable storage medium, relates to the technical field of flexible load control, and determines an initial torque control instruction according to an initial given position instruction accessed; an actual moment of inertia in a series flexible load system is acquired, the initial torque control instruction is once corrected according to the actual moment of inertia, and a once corrected control instruction is obtained; a vibration parameter in the series flexible load system is extracted, the once corrected control instruction is calculated based on the vibration parameter and the actual moment of inertia, and a control instruction compensation amount is output; the control instruction compensation amount is superposed to the once corrected control instruction, and actual control calculation is performed to obtain a torque analog quantity; and based on the torque analog quantity, a primary flexible load and a secondary flexible load are controlled in turn. The problem that a conventional vibration suppression method is difficult to suppress the vibration existing in the series flexible load system is solved.

Description

Technical Field

[0001] This application relates to the field of flexible load control technology, and in particular to a flexible vibration suppression method, apparatus, industrial equipment, and readable storage medium. Background Technology

[0002] In industrial equipment, motors often transmit power to flexible loads via flexible transmission components such as gears, belts, shafts, and springs. However, because these flexible transmission components are non-rigid and have flexible connection characteristics, the motor's control performance over flexible loads often exhibits low-frequency vibration.

[0003] To suppress this phenomenon, a vibration suppression method capable of suppressing low-frequency vibrations on flexible loads has been proposed. However, existing methods only address scenarios with a single flexible load. For series-connected flexible load systems (i.e., two flexible loads connected in series), the vibration frequencies are not uniform and are coupled, making it difficult for vibration suppression methods for single flexible loads to effectively suppress flexible vibrations in series-connected flexible load systems. Summary of the Invention

[0004] The main objective of this application is to provide a flexible vibration suppression method, apparatus, industrial equipment, and readable storage medium, aiming to solve the technical problem that conventional vibration suppression methods are difficult to suppress flexible vibrations in series flexible load systems.

[0005] To achieve the above objectives, this application provides a flexible vibration suppression method, the flexible vibration suppression method comprising:

[0006] The initial torque control command is determined based on the initial given position command received.

[0007] Obtain the actual moment of inertia of the series flexible load system, and modify the initial torque control command based on the actual moment of inertia to obtain a modified control command.

[0008] Vibration parameters are extracted from the series flexible load system. Based on the vibration parameters and the actual moment of inertia, the first correction control command is calculated, and the control command compensation amount is output. The series flexible load system includes a first-level flexible load and a second-level flexible load connected in series.

[0009] The control command compensation amount is superimposed on the first correction control command, and actual control calculations are performed to obtain the torque analog quantity. Based on the torque analog quantity, the first-level flexible load and the second-level flexible load are controlled sequentially.

[0010] Optionally, the step of determining the initial torque control command based on the received initial given position command includes:

[0011] Based on the initial given position command, an initial speed control command is obtained;

[0012] The initial torque control command is determined based on the initial speed control command.

[0013] Optionally, the series flexible load system further includes a motor, and the actual moment of inertia includes the motor's moment of inertia, the first-stage flexible load's first-stage flexible moment of inertia, and the second-stage flexible load's second-stage flexible moment of inertia. The step of correcting the initial torque control command based on the actual moment of inertia to obtain a corrected control command includes:

[0014] Based on the motor's moment of inertia, the first-stage flexible moment of inertia, and the second-stage flexible moment of inertia, the initial torque control command is corrected once to obtain the acceleration control command;

[0015] By integrating the acceleration control command, the acceleration control command is corrected once to obtain a corrected speed control command;

[0016] By integrating the first-correction speed control command, the first-correction speed control command is corrected once to obtain the first-correction position control command.

[0017] The primary correction control command includes the acceleration control command, the initial torque control command, the primary correction speed control command, and the primary correction position control command.

[0018] Optionally, the step of extracting the vibration parameters of the series flexible load system includes:

[0019] The primary vibration parameters of the primary flexible load and the secondary vibration parameters of the secondary flexible load are extracted respectively.

[0020] Optionally, the step of calculating the primary correction control command based on the vibration parameters and the actual moment of inertia, and outputting the control command compensation amount, includes:

[0021] Based on the primary vibration parameters, the secondary vibration parameters, the primary flexible moment of inertia, and the secondary flexible moment of inertia, the received acceleration control command and the first-order corrected speed control command are calculated, and the position compensation amount is output; and,

[0022] Based on the primary vibration parameters, the secondary vibration parameters, the primary flexible moment of inertia, and the secondary flexible moment of inertia, the received acceleration control command is calculated, and the rotational speed compensation is output; and,

[0023] Based on the first-level vibration parameters, the first-level flexible moment of inertia, and the motor moment of inertia, the input acceleration control command and the speed compensation amount are calculated, and the torque compensation amount is output.

[0024] The control command compensation amount includes the position compensation amount, the speed compensation amount, and the torque compensation amount.

[0025] Optionally, the step of superimposing the control command compensation amount onto the first-order correction control command and performing actual control calculations to obtain the analog torque amount includes:

[0026] The position compensation amount is superimposed on the first-correction position control command, and actual position control calculation is performed to obtain the actual speed control command;

[0027] The speed compensation amount is superimposed on the first-correction speed control command, and then the actual torque control is calculated with the actual speed control command to obtain the actual torque control command.

[0028] The torque compensation amount is superimposed on the initial torque control command, and then compared with the actual torque control command to perform actual torque control calculations to obtain the simulated torque amount.

[0029] Optionally, the step of controlling the first-level flexible load and the second-level flexible load sequentially based on the analog torque includes:

[0030] Convert the analog torque quantity into a torque control quantity;

[0031] Based on the torque control quantity, the output power is used to control the operation of the first-level flexible load and the second-level flexible load.

[0032] This application also provides a flexible vibration suppression device, the flexible vibration suppression device comprising:

[0033] The determination module is used to determine the initial torque control command based on the initial given position command received.

[0034] The correction module is used to obtain the actual moment of inertia of the series flexible load system, and to correct the initial torque control command based on the actual moment of inertia to obtain a corrected control command.

[0035] The output module is used to extract the vibration parameters in the series flexible load system, calculate the first correction control command based on the vibration parameters and the actual moment of inertia, and output the control command compensation amount. The series flexible load system includes a first-level flexible load and a second-level flexible load connected in series.

[0036] The control module is used to superimpose the control command compensation amount onto the first correction control command, perform actual control calculations to obtain a torque analog quantity, and control the first-level flexible load and the second-level flexible load sequentially based on the torque analog quantity.

[0037] This application also provides an industrial device, the industrial device including a memory, a processor, and a program stored in the memory and executable on the processor for implementing a flexible vibration suppression method, wherein when the program for implementing the flexible vibration suppression method is executed by the processor, it implements the steps of the flexible vibration suppression method as described above.

[0038] This application also provides a readable storage medium, which is a computer-readable storage medium, on which a program for implementing a flexible vibration suppression method is stored. The program for implementing the flexible vibration suppression method is executed by a processor to implement the steps of the flexible vibration suppression method as described above.

[0039] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the flexible vibration suppression method described above.

[0040] This application provides a flexible vibration suppression method. The method involves determining an initial torque control command based on an initial given position command; obtaining the actual moment of inertia of the series flexible load system; modifying the initial torque control command based on the actual moment of inertia to obtain a first-correction control command; extracting vibration parameters from the series flexible load system; calculating the first-correction control command based on the vibration parameters and the actual moment of inertia; and outputting a control command compensation amount. Since the series flexible load system contains a primary flexible load and a secondary flexible load connected in series, by extracting the vibration parameters of each primary and secondary flexible load separately and generating control command compensation amounts, the flexible vibrations present in the primary and secondary flexible loads can be compensated, thereby suppressing the flexible vibrations. Finally, the control command compensation amount is superimposed on the first-correction control command, and actual control calculations are performed to obtain a torque analog quantity. Based on the torque analog quantity, the primary and secondary flexible loads are controlled sequentially, thus suppressing the flexible vibrations in the primary and secondary flexible loads through the control command compensation amount. This overcomes the technical deficiency of conventional vibration suppression methods in suppressing flexible vibrations present in series flexible load systems. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating an embodiment of the flexible vibration suppression method of this application.

[0044] Figure 2 This is a schematic diagram showing the connection between the series flexible load system and the series flexible load vibration suppression model of this application;

[0045] Figure 3 This is a simplified structural diagram of the series flexible load system of this application;

[0046] Figure 4 This is a simplified flowchart illustrating the flexible vibration suppression method according to an embodiment of this application.

[0047] Figure 5 This is a schematic diagram of the flexible vibration suppression device in the embodiments of this application;

[0048] Figure 6 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of this application.

[0049] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0050] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] Example 1

[0052] Flexible vibration refers to vibration generated by equipment with flexible connection characteristics.

[0053] In industrial equipment, motors often transmit power to flexible loads via flexible transmission components such as gears, belts, shafts, and springs. However, because these flexible transmission components are non-rigid and have flexible connection characteristics, the motor's control performance over flexible loads often exhibits low-frequency vibration.

[0054] To suppress this phenomenon, a vibration suppression method is proposed to inhibit low-frequency vibrations on flexible loads. This method typically involves processing commands, including input shaping, notch filters, and model tracking. Input shaping and notch filters both eliminate specific frequency components in the input signal through specific filtering methods to suppress vibrations. However, both methods cause phase delays in the commands, leading to increased position tracking errors and sacrificing tracking accuracy. Model tracking, on the other hand, establishes an ideal model to plan commands, forcing the actual system to track the ideal commands, thus achieving vibration suppression while maintaining position tracking accuracy.

[0055] However, the vibration suppression methods proposed above only apply to scenarios with a single flexible load. For existing series flexible load systems, i.e., two flexible loads connected in series, the vibration frequencies are not uniform and there is coupling between the vibration frequencies, making it difficult for vibration suppression methods for a single flexible load to effectively suppress the flexible vibrations existing in series flexible load systems.

[0056] Based on this, this application proposes a flexible vibration suppression method according to the first embodiment, please refer to... Figure 1 and Figure 2 The flexible vibration suppression method includes steps S10 to S30:

[0057] Step S10: Determine the initial torque control command based on the received initial given position command.

[0058] It should be noted that, in order to ensure the effectiveness of flexible vibration suppression, the initial given position command is simulated and calculated to simulate the torque control parameters that can be obtained from the actual control calculation. This allows subsequent flexible vibration suppression operations based on these torque control parameters to closely approximate the actual operating effect and achieve maximum flexible vibration suppression.

[0059] Specifically, this example calculates the parameters related to torque control, i.e., the initial torque control command, by analyzing the received initial setpoint command. The initial setpoint command is output by the host computer or controller and is a parameter customized by the user based on the actual control situation.

[0060] Step S20: Obtain the actual moment of inertia of the series flexible load system, and modify the initial torque control command based on the actual moment of inertia to obtain a modified control command.

[0061] Furthermore, in order to reduce position tracking error and improve the control accuracy of the motor on the flexible load while achieving flexible vibration suppression, this application designs a series flexible load vibration suppression model.

[0062] This series flexible load vibration suppression model includes a model tracking module to reduce position tracking errors. The control commands output by this module are assumed to be equal to the actual control commands, thus improving position tracking accuracy. This assumption is based on the fact that the moment of inertia used in the model tracking module is the actual moment of inertia of the actual system (i.e., the series flexible load system). This ensures that the control commands output by the model tracking module are equal to the actual control commands fed back by the series flexible load system, thereby reducing tracking errors and improving the accuracy of subsequent compensation calculations based on the control commands output by the model tracking module, ultimately enhancing the vibration suppression effect.

[0063] Specifically, by acquiring the actual moment of inertia of the series flexible load system, the initial torque control command is corrected once in the model tracking module based on the actual moment of inertia to obtain a first-correction control command, thereby ensuring the control accuracy of the motor on the flexible load according to the first-correction control command.

[0064] Step S30: Extract the vibration parameters in the series flexible load system, calculate the first correction control command based on the vibration parameters and the actual moment of inertia, and output the control command compensation amount. The series flexible load system includes a first-level flexible load and a second-level flexible load connected in series.

[0065] The series flexible load vibration suppression model designed in this application also includes a secondary correction module for realizing flexible vibration suppression. This secondary correction module can generate a control command compensation amount to compensate for the primary correction control command output by the model tracking module. By compensating the primary correction control command with this control command compensation amount, it is ensured that the motor can suppress flexible vibration by controlling the flexible load according to the compensated primary correction control command.

[0066] It is understandable that the control command compensation amount determined in the secondary correction module is calculated based on the vibration parameters and actual rotational inertia to compensate for the primary correction control command. The vibration parameters are extracted from the primary and secondary flexible loads in the series flexible load system, respectively. Therefore, the vibration parameters can reflect the flexible vibration of the series flexible load system. Thus, the control command compensation amount for compensating the primary correction control command can be calculated using the vibration parameters and actual rotational inertia.

[0067] Step S40: The control command compensation amount is superimposed on the first correction control command, and actual control calculation is performed to obtain the torque analog amount. Based on the torque analog amount, the first-level flexible load and the second-level flexible load are controlled sequentially.

[0068] The series flexible load vibration suppression model designed in this application also includes an actual control module, which is used to perform actual control calculations.

[0069] It is understandable that since flexible vibration is caused by the flexible characteristics of the flexible transmission components between the motor and the flexible load system in the series flexible load system, the compensation amount of the control command that can compensate for the primary correction control command input to the motor is superimposed on the primary correction control command. The actual control module performs actual control calculations to obtain the torque analog quantity output to the motor to control the primary and secondary flexible loads. This allows the motor to effectively suppress flexible vibration during the process of controlling the primary and secondary flexible loads based on the torque analog quantity obtained from the calculation process.

[0070] It should be noted that the DC, parameters, inertia and compensation values ​​mentioned in this application are all calculable values.

[0071] This embodiment provides a flexible vibration suppression method. It determines an initial torque control command based on an initial given position command; obtains the actual moment of inertia of the series flexible load system; and corrects the initial torque control command based on the actual moment of inertia to obtain a first-correction control command. It extracts vibration parameters from the series flexible load system, calculates the first-correction control command based on the vibration parameters and the actual moment of inertia, and outputs a control command compensation amount. Since the series flexible load system contains a primary flexible load and a secondary flexible load connected in series, by extracting the vibration parameters of each primary and secondary flexible load separately and generating control command compensation amounts, the flexible vibrations present in the primary and secondary flexible loads can be compensated, thereby suppressing the flexible vibrations. Finally, the control command compensation amount is superimposed on the first-correction control command, and actual control calculations are performed to obtain a torque analog quantity. Based on the torque analog quantity, the primary and secondary flexible loads are controlled sequentially. This control command compensation amount suppresses the flexible vibrations in the primary and secondary flexible loads, overcoming the technical deficiency of conventional vibration suppression methods in suppressing flexible vibrations present in series flexible load systems.

[0072] In one feasible implementation, step S10: determining the initial torque control command based on the received initial given position command may include steps S11 to S12:

[0073] Step S11: Based on the initial given position command, obtain the initial speed control command;

[0074] Step S12: Determine the initial torque control command based on the initial speed control command.

[0075] Specifically, refer to Figure 2 As shown, the model tracking module in this application includes an analog position controller and an analog speed controller.

[0076] The initial given position command is received through the simulated position controller in the model tracking module (i.e. Figure 2 θ ref The calculation is performed to output the initial speed control command (i.e., Figure 2 w in ref After that, the initial speed control command is input into the analog speed controller, and the initial torque control command is output (i.e., ... Figure 2 T in ref This allows for the simulation of the generation of torque control commands during actual operation, facilitating subsequent flexible suppression and compensation of these torque control commands.

[0077] It should be noted that the control parameters of the simulated position controller are the same as those of the actual position controller in the actual control module. This allows the simulated position controller to perform the same control calculation process as the actual position controller. As a result, the initial speed control command calculated and output by the simulated position controller can be close to or equal to the speed control command output by the actual position controller. This avoids the deviation in the first-order correction control command output by the model tracking module due to the difference in control parameters between the simulated and actual position controllers, which would otherwise result in the compensated first-order correction control command failing to effectively achieve flexible suppression.

[0078] The control parameters of the simulated speed controller are the same as those of the actual speed controller in the actual control module. This allows the simulated speed controller to perform the same control calculation process as the actual speed controller. As a result, the initial torque control command calculated and output by the simulated speed controller can be close to or equal to the torque control command output by the actual speed controller. This avoids the deviation in the first-order correction control command output by the model tracking module due to the difference in control parameters between the simulated and actual speed controllers, which would otherwise result in the compensated first-order correction control command failing to effectively achieve flexible suppression.

[0079] In this embodiment, an initial speed control command is obtained based on an initial given position command; an initial torque control command is determined based on the initial speed control command, thereby simulating the generation of torque control commands during actual operation, which facilitates subsequent flexible suppression and compensation of the torque control command.

[0080] In one feasible implementation, step S20, which involves modifying the initial torque control command based on the actual moment of inertia to obtain a modified control command, may include steps S21 to S23:

[0081] Step S21: Based on the motor's moment of inertia, the first-stage flexible moment of inertia, and the second-stage flexible moment of inertia, the initial torque control command is corrected once to obtain the acceleration control command.

[0082] Specifically, refer to Figure 2 As shown, the model tracking module in this application also includes an ideal rigid load model.

[0083] The simulated moment of inertia in the ideal rigid load model is set based on the actual moment of inertia in the series flexible load system. Utilizing the model tracking control algorithm, the initial torque control command is input into the ideal rigid load model. Because the simulated moment of inertia in the ideal rigid load model is the same as the actual moment of inertia in the series flexible load system, the output of the ideal rigid load model can be considered equal to the actual output. Therefore, by correcting the initial torque control command output by the simulated speed controller using this ideal rigid load model, position tracking errors can be reduced.

[0084] The initial torque control command output by the analog speed controller is input into the ideal rigid load model. Based on the model formula of the ideal rigid load model, i.e., the following formula 1:

[0085]

[0086] Among them, a ff1 Indicates acceleration control command, T ref J represents the initial torque control command. m J is the moment of inertia of the motor in a series flexible load system. l1 J is the first-stage flexible rotational inertia of the first-stage flexible load in a series flexible load system. l2 This refers to the second-level flexible rotational inertia of the secondary flexible load in a series flexible load system. The motor rotational inertia, the first-level flexible rotational inertia, and the second-level flexible rotational inertia constitute the actual rotational inertia.

[0087] Therefore, by substituting the initial torque control command into Equation 1 and making a correction to the initial torque control command, the acceleration control command (i.e., ...) can be output. Figure 2 a in ff1 ).

[0088] Step S22: By integrating the acceleration control command, the acceleration control command is corrected once to obtain a corrected speed control command.

[0089] Specifically, refer to Figure 2 As shown, the model tracking module in this application also includes a first integrator (i.e., Figure 2(DDA1 in the middle).

[0090] By integrating the acceleration control command by 1 / s as set in the first integrator, the acceleration control command output by the ideal rigid load model is integrally calculated, thereby achieving a first-order correction of the acceleration control command, eliminating acceleration errors, and thus improving the output first-order corrected speed control command (i.e., Figure 2 w in ff1 ) output accuracy.

[0091] It should be noted that the first corrected torque control command output by the first integrator will be fed back to the input of the analog speed controller, and the difference between it and the initial speed control command will be calculated to correct the initial speed control command and improve the accuracy of the simulation.

[0092] Step S23: By integrating the first-correction speed control command, the first-correction speed control command is corrected once to obtain the first-correction position control command.

[0093] Specifically, refer to Figure 2 As shown, the model tracking module in this application also includes a second integrator (i.e., Figure 2 (DDA2 in the middle).

[0094] By integrating the first-correction speed control command as set in the second integrator, the speed control command output by the first integrator is integrally calculated, thereby achieving a first-correction of the speed control command, eliminating speed errors, and thus improving the output of the first-correction torque control command (i.e., ...). Figure 2 θ ff1 ) output accuracy.

[0095] It should be noted that the primary corrected position control command output by the second integrator is fed back to the input of the analog position controller, and the difference between it and the initial given position command is calculated to correct the initial given position command and improve the accuracy of the simulation.

[0096] In this embodiment, the initial torque control command is corrected once based on the motor's moment of inertia, the first-order flexible moment of inertia, and the second-order flexible moment of inertia to obtain an acceleration control command; the acceleration control command is then corrected once by integrating the acceleration control command to obtain a first-order corrected speed control command; and the first-order corrected speed control command is then corrected once by integrating the first-order corrected speed control command to obtain a first-order corrected position control command, thereby reducing position tracking error.

[0097] In one feasible implementation, step S30: extracting vibration parameters from the series flexible load system may include step S31:

[0098] Step S31: Extract the primary vibration parameters of the primary flexible load and the secondary vibration parameters of the secondary flexible load.

[0099] It is understandable that vibration parameters can reflect the flexible vibration of a series flexible load system. Therefore, vibration parameters can be used to calculate the primary correction control command, thereby obtaining the control command compensation amount to compensate for the primary correction control command. Through this control command compensation amount, the flexible compensation of the series flexible load system can be achieved, thereby suppressing the existing flexible vibration.

[0100] In a specific implementation, by Figure 3 As can be seen, the series flexible load system in this embodiment has two flexible loads connected in series with the motor, namely the primary flexible load and the secondary flexible load. Therefore, the primary vibration parameters of the primary flexible load, namely the vibration frequency, stiffness coefficient, damping filter frequency and damping coefficient of the primary flexible load, are extracted, and the secondary vibration parameters of the secondary flexible load, namely the vibration frequency, stiffness coefficient, damping filter frequency and damping coefficient of the secondary flexible load, are extracted.

[0101] The extracted primary and secondary vibration parameters are used to construct primary and secondary flexible load vibration compensators, respectively. The extracted vibration parameters are then substituted into the corresponding flexible load vibration compensators to form the compensation formulas for the primary flexible load vibration compensator (as shown in Formula 2) and the secondary flexible load vibration compensator (as shown in Formula 3). These formulas can compensate for the vibration frequencies present in the two series-connected flexible loads, thereby effectively suppressing the flexible vibrations present during the operation of the flexible load.

[0102]

[0103] Among them, C l1 (s) represents a first-level flexible load vibration compensator. The vibration frequency introduced by the first-level flexible load, K c1 The stiffness coefficient is for a Class I flexible load. b is the damping filter frequency for a first-stage flexible load. e1 The damping coefficient is the damping coefficient for a first-order flexible load.

[0104]

[0105] Among them, C l2 (s) represents a two-stage flexible load vibration compensator. The vibration frequency introduced by the secondary flexible load, K c2 The stiffness coefficient is the stiffness coefficient of a secondary flexible load. b is the damping filter frequency for a secondary flexible load. e2This is the damping coefficient of a secondary flexible load.

[0106] Because the flexible vibration in the series flexible load system is related to the primary and secondary flexible load vibration compensators set in the series flexible load system, the primary and secondary flexible load vibration compensators designed using this vibration parameter can effectively compensate for the control commands input to the series flexible load system, thereby effectively suppressing the existing flexible vibration.

[0107] In this embodiment, by extracting the primary vibration parameters of the primary flexible load and the secondary vibration parameters of the secondary flexible load respectively, the control command compensation amount of the series flexible load system can be calculated. This can effectively compensate for the control commands input to the series flexible load system, thereby effectively suppressing the existing flexible vibrations.

[0108] In one feasible implementation, step S30, which involves calculating the primary correction control command based on the vibration parameters and the actual moment of inertia, and outputting the control command compensation amount, may include steps S32 to S34.

[0109] Step S32: Based on the primary vibration parameters, the secondary vibration parameters, the primary flexible rotational inertia, and the secondary flexible rotational inertia, calculate the input acceleration control command and the first-order corrected rotational speed control command, and output the position compensation amount.

[0110] Reference Figure 2 As shown, the secondary correction module includes a position compensation unit, which consists of a primary flexible load vibration compensator and a secondary flexible load vibration compensator. In a specific implementation, the position compensation unit receives the acceleration control command output by the ideal rigid load model and the primary correction speed control command output by the first integrator. The primary flexible load vibration compensator, the secondary flexible load vibration compensator, the primary flexible moment of inertia, and the secondary flexible moment of inertia set in the position compensation unit calculate the acceleration control command and the primary correction speed control command, and outputs the position compensation amount to compensate for the position deviation caused by the flexible vibration in the primary and secondary flexible loads.

[0111] Specific reference Figure 2 The compensation formula for the position compensation unit is shown in Formula 4:

[0112]

[0113] in, w represents the position compensation amount. ff1 Indicates a single speed control command

[0114] Step S33: Based on the primary vibration parameters, the secondary vibration parameters, the primary flexible moment of inertia, and the secondary flexible moment of inertia, calculate the input acceleration control command and output the rotational speed compensation amount.

[0115] Reference Figure 2 As shown, the secondary correction module also includes a speed compensation unit, which consists of the first-stage flexible load vibration compensator and the second-stage flexible load vibration compensator. The speed compensation unit receives the acceleration control command output by the ideal rigid load model. Through the first-stage flexible load vibration compensator, the second-stage flexible load vibration compensator, the first-stage flexible moment of inertia and the second-stage flexible moment of inertia designed in the speed compensation unit, the acceleration control command is calculated, and the speed compensation amount is output to compensate for the speed deviation caused by the flexible vibration in the first-stage flexible load and the second-stage flexible load.

[0116] Specific reference Figure 2 The compensation formula for the position compensation unit is shown in Formula 5:

[0117]

[0118] in, represents the speed compensation amount, and s is the derivative.

[0119] Step S34: Based on the first-level vibration parameters, the first-level flexible moment of inertia, and the motor moment of inertia, calculate the received acceleration control command and the speed compensation amount, and output the torque compensation amount.

[0120] Reference Figure 2 As shown, the secondary correction module also includes a torque compensation unit, which is composed of the first-stage flexible load vibration compensator. The torque compensation unit receives the acceleration control command output by the ideal rigid load model and the speed compensation amount output by the speed compensation unit. Through the first-stage flexible load vibration compensator, the first-stage flexible moment of inertia and the motor moment of inertia set in the torque compensation unit, the acceleration control command and the speed compensation amount are calculated, and the torque compensation amount is output to compensate for the torque deviation caused by the flexible vibration in the first-stage flexible load and the second-stage flexible load.

[0121] Specific reference Figure 2 The compensation formula for the position compensation unit is shown in Formula 6:

[0122]

[0123] in, This indicates the amount of torque compensation.

[0124] According to Formula 6, the torque compensation unit in this application is only equipped with a first-level flexible load vibration compensator because the torque compensation unit is already connected to the speed compensation unit composed of a first-level flexible load vibration compensator and a second-level flexible load vibration compensator. Therefore, the torque compensation amount for compensating the torque deviation caused by the flexible vibration in the two series flexible loads can be directly obtained based on the connected speed compensation amount.

[0125] In this embodiment, based on the primary vibration parameters, secondary vibration parameters, primary flexible moment of inertia, and secondary flexible moment of inertia, the input acceleration control command and the first-correction speed control command are calculated, and the position compensation amount is output; and based on the primary vibration parameters, secondary vibration parameters, primary flexible moment of inertia, and secondary flexible moment of inertia, the input acceleration control command is calculated, and the speed compensation amount is output; and based on the primary vibration parameters, primary flexible moment of inertia, and motor moment of inertia, the input acceleration control command and speed compensation amount are calculated, and the torque compensation amount is output. This compensates for the deviations caused by the flexible vibrations in the primary and secondary flexible loads set in the series flexible load system, thereby achieving effective suppression of flexible vibrations.

[0126] In one feasible implementation, step S40, which involves superimposing the control command compensation amount onto the first-order correction control command and performing actual control calculations to obtain the torque analog quantity, may include steps S41 to S43:

[0127] Step S31: The position compensation amount is superimposed on the first correction position control command, and the actual position control calculation is performed to obtain the actual speed control command.

[0128] Step S32: The speed compensation amount is superimposed on the first-correction speed control command, and the actual torque control is calculated together with the actual speed control command to obtain the actual torque control command.

[0129] Step S33: The torque compensation amount is superimposed on the initial torque control command, and actual torque control calculation is performed with the actual torque control command to obtain the torque analog amount.

[0130] Reference Figure 2 As shown, the actual control module includes an actual position controller, an actual speed controller, and an actual torque controller.

[0131] After obtaining the position compensation amount through the position compensation unit, this position compensation amount is superimposed on the primary correction position control command output by the second integrator, that is, the position control command sum of the position compensation amount and the primary correction position control command is calculated (i.e., the sum of the position compensation amount and the position control command of the primary correction position control command is obtained). Figure 2 θ ffAfter that, the position control command is passed to the actual position controller for actual position control calculation. Then, the actual speed control command required for the actual control process is output, and then... Figure 2 The connection relationship between the controllers in the actual control module shown is used to transmit the actual speed control command to the actual speed controller.

[0132] After obtaining the speed compensation amount through the speed compensation unit, this speed compensation amount is superimposed on the primary corrected speed control command output by the first integrator, that is, the sum of the speed compensation amount and the primary corrected speed control command is calculated (i.e., the speed control command is obtained by summing the speed compensation amount and the primary corrected speed control command). Figure 2 w in ff After that, the speed control command is transmitted to the actual speed controller for actual speed control calculation, and the output speed control command and the sum of the actual speed control command are generated. That is, after the actual torque control command is generated in the actual control process, it is based on the following... Figure 2 The connection relationship between the controllers in the actual control module is shown, which transmits the actual torque control command to the actual torque controller.

[0133] After obtaining the torque compensation amount through the torque compensation unit, this torque compensation amount is superimposed on the initial torque control command output by the analog speed controller, that is, the sum of the torque compensation amount and the initial torque control command is calculated (i.e., the torque control command is obtained by adding the torque compensation amount to the initial torque control command). Figure 2 T in ff After that, the torque control command is passed to the actual torque controller for actual torque control calculation, and the output torque control command and the sum of the actual torque control command are generated, which is the torque analog quantity required to generate for torque control of the series flexible load system in the actual control process.

[0134] Through the above steps, compensation is achieved in the analog torque output to the series flexible load system for control, thereby effectively suppressing the flexible vibrations that exist in the series flexible load system during operation based on the torque compensation.

[0135] In this embodiment, the actual speed control command is obtained by superimposing the position compensation amount onto the first-correction position control command and performing actual position control calculation; the actual torque control command is obtained by superimposing the speed compensation amount onto the first-correction speed control command and performing actual torque control calculation with the actual speed control command; the actual torque control command is obtained by superimposing the torque compensation amount onto the initial torque control command and performing actual torque control calculation with the actual torque control command. This achieves compensation in the torque analog quantity output to the series flexible load system for control, thereby effectively suppressing the flexible vibration existing in the series flexible load system during operation based on the torque compensation amount.

[0136] In one feasible implementation, step S40, which involves controlling the primary flexible load and the secondary flexible load sequentially based on the analog torque, may include steps S44 to S45:

[0137] Step S44: Convert the analog torque quantity into a torque control quantity.

[0138] Step S45: Based on the torque control quantity, output power is output to control the operation of the first-level flexible load and the second-level flexible load, so as to suppress the flexible vibration of the flexible load system.

[0139] Specifically, refer to Figure 2 As shown, the series flexible load system in this application includes an inverter, a motor, a flexible transmission component, and a flexible load system.

[0140] The inverter's input is connected to the output of the actual torque controller, receiving the analog torque output from the controller. This analog torque is then converted into a torque control signal and transmitted to the motor. The motor, based on this control signal, transfers power to the primary and secondary flexible loads via a flexible transmission component. Because this torque control signal has already undergone position tracking error reduction processing and compensation for deviations caused by flexible vibrations in the flexible load system using a series flexible load vibration suppression model in previous steps, the motor's control of the primary and secondary flexible loads based on this torque control signal can effectively suppress existing flexible vibrations and achieve stable operation of the primary and secondary flexible loads.

[0141] It should be noted that the series flexible load system also includes an encoder. This encoder receives the torque control signal from the motor and converts it into an encoded value, which is then fed back to the inputs of the actual position controller and the actual speed controller. Before the actual position controller, the encoder is subtracted from the sum of the position control command and the actual speed control command to correct the position control command and improve the accuracy of the actual speed control command output by the actual position controller. Before the actual speed controller, the encoder is differentiated by s and then subtracted from the sum of the speed control command and the actual speed control command to correct the speed control command and improve the accuracy of the actual torque control command output by the actual speed controller.

[0142] At the same time, the motor will directly feed back the received torque control quantity to the input terminal of the actual torque controller. The difference between the actual torque control command and the actual torque control command is calculated in front of the actual torque controller to correct the torque control command and make the accuracy of the torque analog quantity output by the actual torque controller higher, further improving the suppression effect on flexible vibration.

[0143] In this embodiment, the analog torque is converted into a torque control quantity; based on the torque control quantity, the output power for controlling the operation of the primary flexible load and the secondary flexible load is output. The control of the primary flexible load and the secondary flexible load can effectively suppress the existing flexible vibration and achieve stable operation of the primary flexible load and the secondary flexible load.

[0144] For example, to aid in understanding the technical concept or principles of this application, please refer to Figure 4 , Figure 4 A simplified flowchart of a flexible vibration suppression method is provided, specifically:

[0145] First, the initial given position command is received and calculated based on the simulated position controller. An initial speed control command is then output to the simulated speed controller. The simulated speed controller performs calculations and outputs an initial torque control command. This initial torque control command is input to an ideal rigid load model for a correction, resulting in an acceleration control command. This acceleration control command is then input to the first integrator, position compensation unit, speed compensation unit, and torque compensation unit. The first integrator corrects the acceleration control command, resulting in a corrected speed control command. This corrected speed control command is then input to the second integrator and position compensation unit. After a correction by the second integrator, a corrected position control command is output. Simultaneously, the position compensation unit, based on the received acceleration control command and the corrected speed control command… The control command is calculated and outputs a position compensation amount. This position compensation amount is superimposed on the primary correction position control command and input into the actual position controller for calculation, outputting the actual speed control command. The speed compensation unit calculates based on the received acceleration control command and outputs a speed compensation amount. This speed compensation amount is input to the torque compensation unit and superimposed on the primary correction speed control command, then input into the actual speed controller and summed with the actual speed control command to output a torque compensation amount. The torque compensation unit calculates based on the received acceleration control command and speed compensation amount, outputting a torque compensation amount. This torque compensation amount is superimposed on the initial torque control command and input into the actual torque controller and summed with the actual torque control command to output an analog torque amount. Finally, this analog torque amount is input into the series flexible load system, thereby suppressing the flexible vibration in the series flexible load system.

[0146] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the flexible vibration suppression method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0147] Example 2

[0148] This application provides a flexible vibration suppression device. Please refer to... Figure 5 The flexible vibration suppression device includes:

[0149] The determining module 10 is used to determine the initial torque control command based on the received initial given position command;

[0150] Correction module 20 is used to obtain the actual moment of inertia of the series flexible load system, and to correct the initial torque control command based on the actual moment of inertia to obtain a corrected control command.

[0151] Output module 30 is used to extract vibration parameters in the series flexible load system, calculate the first correction control command based on the vibration parameters and the actual moment of inertia, and output the control command compensation amount. The series flexible load system includes a first-level flexible load and a second-level flexible load connected in series.

[0152] The control module 40 is used to superimpose the control command compensation amount onto the first correction control command, perform actual control calculations to obtain a torque analog quantity, and control the first-level flexible load and the second-level flexible load sequentially based on the torque analog quantity.

[0153] Furthermore, the determining module 10 is also used for:

[0154] Based on the initial given position command, an initial speed control command is obtained;

[0155] The initial torque control command is determined based on the initial speed control command.

[0156] Furthermore, the correction module 20 is also used for:

[0157] Based on the motor's moment of inertia, the first-stage flexible moment of inertia, and the second-stage flexible moment of inertia, the initial torque control command is corrected once to obtain the acceleration control command;

[0158] By integrating the acceleration control command, the acceleration control command is corrected once to obtain a corrected speed control command;

[0159] By integrating the first-correction speed control command, the first-correction speed control command is corrected once to obtain the first-correction position control command.

[0160] Furthermore, the flexible vibration suppression device also includes:

[0161] The extraction module 50 is used to extract the primary vibration parameters of the primary flexible load and the secondary vibration parameters of the secondary flexible load, respectively.

[0162] Furthermore, the output module 30 is also used for:

[0163] Based on the primary vibration parameters, the secondary vibration parameters, the primary flexible moment of inertia, and the secondary flexible moment of inertia, the received acceleration control command and the first-correction speed control command are calculated, and a position compensation amount is output; and based on the primary vibration parameters, the secondary vibration parameters, the primary flexible moment of inertia, and the secondary flexible moment of inertia, the received acceleration control command is calculated, and a speed compensation amount is output; and based on the primary vibration parameters, the primary flexible moment of inertia, and the motor moment of inertia, the received acceleration control command and the speed compensation amount are calculated, and a torque compensation amount is output.

[0164] Furthermore, the control module 40 is also used for:

[0165] The position compensation amount is superimposed on the first-correction position control command, and actual position control calculation is performed to obtain the actual speed control command;

[0166] The speed compensation amount is superimposed on the first-correction speed control command, and then the actual torque control is calculated with the actual speed control command to obtain the actual torque control command.

[0167] The torque compensation amount is superimposed on the initial torque control command, and then compared with the actual torque control command to perform actual torque control calculations to obtain the simulated torque amount.

[0168] Furthermore, the control module 40 is also used for:

[0169] Convert the analog torque quantity into a torque control quantity;

[0170] Based on the torque control quantity, the output power is used to control the operation of the first-level flexible load and the second-level flexible load.

[0171] Example 3

[0172] like Figure 6 As shown, Figure 6 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of this application.

[0173] The terminal for implementation in this application is industrial equipment, such as... Figure 6As shown, the industrial equipment may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0174] Optionally, industrial equipment may also include RF (Radio Frequency) circuits, sensors, WiFi modules, etc. Sensors such as light sensors, motion sensors, and other sensors will not be elaborated upon here.

[0175] Those skilled in the art will understand that Figure 6 The industrial equipment structures shown do not constitute a limitation on industrial equipment and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0176] like Figure 6 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a program for implementing the flexible vibration suppression method.

[0177] exist Figure 6 In the industrial equipment shown, the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate with the client; while the processor 1001 can be used to call the program for implementing the flexible vibration suppression method stored in the memory 1005 and execute the steps of the flexible vibration suppression method provided in the first embodiment above.

[0178] Example 4

[0179] This application provides a computer-readable storage medium having computer-readable program instructions stored thereon, which are used to execute the flexible vibration suppression method in the first embodiment described above.

[0180] The computer-readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0181] The aforementioned computer-readable storage medium may be included in the electric bicycle; or it may exist independently and not be installed in the electric bicycle.

[0182] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the electric bicycle, cause the electric bicycle to: acquire a motor speed signal during the operation of the electric bicycle according to the assist current signal; extract a motor vibration signal from the motor speed signal; determine a vibration compensation current signal based on the motor vibration signal, wherein the vibration compensation current signal is used to cancel the motor vibration generated by the motor vibration signal; and superimpose the vibration compensation current signal onto the assist current signal to suppress the flexible vibration in the electric bicycle.

[0183] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0184] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0185] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0186] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions for executing the above-described flexible vibration suppression method. This solves the technical problem that conventional vibration suppression methods struggle to suppress vibrations present in series flexible load systems. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the flexible vibration suppression method provided in Embodiment 1 above, and will not be repeated here.

[0187] Example 5

[0188] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the flexible vibration suppression method described above.

[0189] The computer program product provided in this application can solve the technical problem that conventional vibration suppression methods are unable to suppress vibrations in series flexible load systems. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the flexible vibration suppression method provided in Embodiment 1 above, and will not be repeated here.

[0190] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A flexible vibration suppression method, characterized in that, The flexible vibration suppression method includes: The initial torque control command is determined based on the initial given position command received. Obtain the actual rotational inertia of a series flexible load system, wherein the series flexible load system includes a motor, a first-stage flexible load and a second-stage flexible load connected in series, and the actual rotational inertia includes the motor rotational inertia of the motor, the first-stage flexible rotational inertia of the first-stage flexible load and the second-stage flexible rotational inertia of the second-stage flexible load. Based on the actual moment of inertia, the initial torque control command is corrected once to obtain a corrected control command; The primary vibration parameters of the primary flexible load and the secondary vibration parameters of the secondary flexible load are extracted respectively. Based on the primary vibration parameters, the secondary vibration parameters, and the actual moment of inertia, the primary correction control command is calculated, and the control command compensation amount is output. The control command compensation amount is superimposed on the first correction control command, and actual control calculations are performed to obtain the torque analog quantity. Based on the torque analog quantity, the first-level flexible load and the second-level flexible load are controlled sequentially.

2. The flexible vibration suppression method as described in claim 1, characterized in that, The step of determining the initial torque control command based on the received initial given position command includes: Based on the initial given position command, an initial speed control command is obtained; The initial torque control command is determined based on the initial speed control command.

3. The flexible vibration suppression method as described in claim 1, characterized in that, The step of modifying the initial torque control command based on the actual moment of inertia to obtain a modified control command includes: Based on the motor's moment of inertia, the first-stage flexible moment of inertia, and the second-stage flexible moment of inertia, the initial torque control command is corrected once to obtain the acceleration control command; By integrating the acceleration control command, the acceleration control command is corrected once to obtain a corrected speed control command; By integrating the first-correction speed control command, the first-correction speed control command is corrected once to obtain the first-correction position control command. The primary correction control command includes the acceleration control command, the initial torque control command, the primary correction speed control command, and the primary correction position control command.

4. The flexible vibration suppression method as described in claim 3, characterized in that, The step of calculating the first-order correction control command based on the first-order vibration parameters, the second-order vibration parameters, and the actual moment of inertia, and outputting the control command compensation amount, includes: Based on the primary vibration parameters, the secondary vibration parameters, the primary flexible moment of inertia, and the secondary flexible moment of inertia, the received acceleration control command and the first-order corrected speed control command are calculated, and the position compensation amount is output; and, Based on the primary vibration parameters, the secondary vibration parameters, the primary flexible moment of inertia, and the secondary flexible moment of inertia, the received acceleration control command is calculated, and the rotational speed compensation is output; and, Based on the first-level vibration parameters, the first-level flexible moment of inertia, and the motor moment of inertia, the input acceleration control command and the speed compensation amount are calculated, and the torque compensation amount is output. The control command compensation amount includes the position compensation amount, the speed compensation amount, and the torque compensation amount.

5. The flexible vibration suppression method as described in claim 4, characterized in that, The step of superimposing the control command compensation amount onto the first-order correction control command and performing actual control calculations to obtain the analog torque amount includes: The position compensation amount is superimposed on the first-correction position control command, and actual position control calculation is performed to obtain the actual speed control command; The speed compensation amount is superimposed on the first-correction speed control command, and then the actual torque control is calculated with the actual speed control command to obtain the actual torque control command. The torque compensation amount is superimposed on the initial torque control command, and then compared with the actual torque control command to perform actual torque control calculations to obtain the simulated torque amount.

6. The flexible vibration suppression method as described in claim 1, characterized in that, The step of controlling the primary flexible load and the secondary flexible load sequentially based on the analog torque includes: Convert the analog torque quantity into a torque control quantity; Based on the torque control quantity, the output power is used to control the operation of the first-level flexible load and the second-level flexible load.

7. A flexible vibration suppression device, characterized in that, The flexible vibration suppression device includes: The determination module is used to determine the initial torque control command based on the initial given position command received. The correction module is used to obtain the actual rotational inertia of the series flexible load system, wherein the series flexible load system includes a motor, a first-stage flexible load and a second-stage flexible load connected in series, and the actual rotational inertia includes the motor rotational inertia of the motor, the first-stage flexible rotational inertia of the first-stage flexible load and the second-stage flexible rotational inertia of the second-stage flexible load; based on the actual rotational inertia, the initial torque control command is corrected once to obtain a corrected control command; The output module is used to extract the primary vibration parameters of the primary flexible load and the secondary vibration parameters of the secondary flexible load, respectively. Based on the first-level vibration parameters, the second-level vibration parameters, and the actual moment of inertia, the first-level correction control command is calculated, and the control command compensation amount is output. The control module is used to superimpose the control command compensation amount onto the first correction control command, perform actual control calculations to obtain a torque analog quantity, and control the first-level flexible load and the second-level flexible load sequentially based on the torque analog quantity.

8. An industrial device, characterized in that, The industrial equipment includes a memory, a processor, and a program for implementing a flexible vibration suppression method stored in the memory and executable on the processor. When the program for implementing the flexible vibration suppression method is executed by the processor, it implements the steps of the flexible vibration suppression method as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium is a computer-readable storage medium, on which a program for implementing the flexible vibration suppression method is stored. The program for implementing the flexible vibration suppression method is executed by a processor to implement the steps of the flexible vibration suppression method as described in any one of claims 1 to 6.

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