High-frequency vibration suppression device, servo driver, and servo control system

Abstract

The application discloses a high-frequency vibration suppression device, a servo driver and a servo control system, and relates to the technical field of motor control. The device comprises a parameter output module and a to-be-driven module connected with the parameter output module and comprising a position input interface, a speed input interface and a current input interface. The parameter output module comprises a controller unit, an input position instruction and a model output position, and is connected with the position, speed and current input interfaces, and is used for generating a model current value. A controlled object unit is connected with the controller unit and the position and speed input interfaces, and is used for generating a speed feedback value and a position feedback value. A high-frequency vibration suppression unit is connected with the controller unit and the current input interface, and is used for generating a suppression current value. The to-be-driven module is driven and controlled based on the model current value and the suppression current value, the speed feedback value and the position feedback value received by the interface, so as to realize high-frequency vibration suppression. The application improves the servo motor control precision.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a high-frequency vibration suppression device, a servo driver, and a servo control system. Background Technology

[0002] With the development of motor control technology, users have put forward higher requirements for motor control. As a part of motor control, suppressing high-frequency vibration has also indirectly put forward higher design requirements for suppressing high-frequency vibration.

[0003] Traditional high-frequency vibration suppression methods involve adding a command notch filter at the speed input of the servo control system. However, this method has significant drawbacks, including phase lag caused by the command notch filter. This phase lag leads to low servo motor control accuracy.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a high-frequency vibration suppression device, a servo driver and a servo control system, a liquid crystal display panel and a display device, in order to solve the technical problem of low control accuracy of servo motors.

[0006] To achieve the above objectives, this application provides a high-frequency vibration suppression device, which includes a parameter output module and a driveable module connected to the parameter output module. The driveable module includes a position input interface, a velocity input interface, and a current input interface. The parameter output module includes: The controller unit has its input terminal connected to the position input interface and the speed input interface, and its output terminal connected to the current input interface. The controller unit is used to receive position commands and model output positions, and to generate model current values ​​based on the position commands and model output positions. The controlled object unit has its input terminal connected to the output terminal of the controller unit, and its output terminal connected to the position input interface and the speed input interface. The controlled object unit is used to generate speed feedback values ​​and position feedback values ​​based on the model current values. A high-frequency vibration suppression unit, wherein the input terminal of the high-frequency vibration suppression unit is connected to the output terminal of the controller unit, and the output terminal of the high-frequency vibration suppression unit is connected to the current input interface, and the high-frequency vibration suppression unit is used to generate a suppression current value based on the model current value; The module to be driven is used to perform drive control based on the model current value and the suppression current value received by the current input interface, the speed feedback value received by the speed input interface, and the position feedback value received by the position input interface, so as to achieve high-frequency vibration suppression.

[0007] In one embodiment, the high-frequency vibration suppression unit includes: A high-pass filter subunit, wherein the input terminal of the high-pass filter subunit is connected to the output terminal of the controller unit, and wherein the high-pass filter subunit includes one second-order high-pass filter or two first-order high-pass filters; A high-frequency multiplier, wherein the input terminal of the high-frequency multiplier is connected to the output terminal of the high-pass filter subunit, and the output terminal of the high-frequency multiplier is connected to the current input interface.

[0008] In one embodiment, the controller unit includes: A first subtractor, wherein the first input terminal of the first subtractor is connected to the position command, and the second input terminal of the first subtractor is connected to the model output position and is connected to the position input interface; A position gainer, the input of which is connected to the output of the first subtractor; The second subtractor has its first input connected to the output of the position gain unit, and its second input connected to the controlled object unit and the speed input interface. A speed gainer, the input of which is connected to the output of the second subtractor; The first multiplier has its input connected to the output of the speed gain unit, and its output connected to the speed input interface and the input of the high-pass filter subunit. The first multiplier is also connected to the controlled object unit.

[0009] In one embodiment, the controlled object unit includes: A second multiplier, the input of which is connected to the output of the first multiplier; A first integrator, the input of which is connected to the output of the second multiplier, and the output of which is connected to the position input interface and the second input of the second subtractor.

[0010] In one embodiment, the controlled object unit includes: A first integrator, the input of which is connected to the input of the first multiplier, and the output of which is connected to the position input interface and the second input of the second subtractor.

[0011] In one embodiment, the high-frequency vibration suppression device further includes: A first adder, wherein the first input terminal of the first adder is connected to the output terminal of the first multiplier, and the second input terminal of the first adder is connected to the output terminal of the high-frequency multiplier; A first coefficient multiplier is connected to the output of the first adder, and the output of the first coefficient multiplier is connected to the current input interface.

[0012] In one embodiment, the high-frequency vibration suppression device further includes: The second coefficient multiplier has its input connected to the output of the first integrator, and its output connected to the speed input interface.

[0013] In one embodiment, the controlled object unit further includes: A second integrator, the input of which is connected to the output of the first integrator, and the output of which is connected to the position input interface.

[0014] In addition, to achieve the above objectives, this application also provides a servo driver, which includes the aforementioned high-frequency vibration suppression device.

[0015] In addition, to achieve the above objectives, this application also provides a servo control system, which includes a servo motor and the aforementioned servo driver connected to the servo motor.

[0016] This application proposes a high-frequency vibration suppression device, including a parameter output module and a driveable module connected to the parameter output module. The driveable module includes a position input interface, a velocity input interface, and a current input interface. The parameter output module includes: a controller unit, the input terminal of which is connected to the position input interface and the velocity input interface, and the output terminal of which is connected to the current input interface. The controller unit is used to receive position commands and model output positions, and to generate model current values ​​based on the position commands and the model output positions; and a controlled object unit, the input terminal of which is connected to the output terminal of the controller unit, and the output of the controlled object unit... The controller unit is connected to the position input interface and the speed input interface. The controlled object unit generates speed feedback values ​​and position feedback values ​​based on the model current value. A high-frequency vibration suppression unit is also included, with its input connected to the output of the controller unit and its output connected to the current input interface. This high-frequency vibration suppression unit generates suppression current values ​​based on the model current value. The driven module is used to perform drive control based on the model current value and suppression current value received from the current input interface, the speed feedback value received from the speed input interface, and the position feedback value received from the position input interface, thereby achieving high-frequency vibration suppression. The controller unit, controlled object unit, and high-frequency vibration suppression unit process the input position command and model output position to obtain model current value, suppression current value, speed feedback value, and position feedback value. The current-related model current value and suppression current value are input to the current input interface, the speed-related speed feedback value is input to the speed input interface, and the position-related position feedback value is input to the position input interface. After compensation by speed, current, and position, high-frequency vibration suppression control is performed, thus eliminating the need for a command notch filter to achieve high-frequency vibration suppression. This avoids the phase lag problem caused by the command notch filter, thereby improving the control accuracy of the servo motor. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one module of the high-frequency vibration suppression device of this application; Figure 2 This is a circuit diagram of a high-frequency vibration suppression unit in the high-frequency vibration suppression device of this application; Figure 3 This is a circuit diagram of the controller unit in the high-frequency vibration suppression device of this application; Figure 4 This is a circuit diagram of the controlled object unit in the high-frequency vibration suppression device of this application; Figure 5 This is a circuit diagram of the module to be driven in the high-frequency vibration suppression device of this application; Figure 6 This is a schematic diagram of the servo control system of this application; Figure 7 This is a circuit diagram of the high-frequency vibration suppression device of this application.

[0018] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0019] Explanation of icon numbers: 100. Parameter output module; 110. Controller unit; 120. Controlled object unit; 130. High-frequency vibration suppression unit; 200. Driven module; 210. Position input interface; 220. Velocity input interface; 230. Current input interface; 300. Servo driver; 400. Servo motor; θM, Position command; θlM, Model output position (position feedback value); △θM, Model position error value; ωM, Velocity command; ωlM, Velocity feedback value; △ωM, Model velocity error value; αlM, Model acceleration value; iM, Model current value; TM, Model torque value; GT, High-pass filter output value; iHM, Suppression current value; ωm, Actual output velocity value; irm, Current input value; ωrm, Velocity input value; θrm; Position input value; θm, actual output position value; im, actual output current value; ir, current value; αr, acceleration value; △ωr, velocity error value; ωr, velocity value; S1-S3, first subtractor-third subtractor; K1, position gainer; K2, velocity gainer; D1, first multiplier; D2, second multiplier; D21, third multiplier; D22, fourth multiplier; J1-J2, first integrator-second integrator; 131, high-pass filter subunit; N1, first adder; X1, second coefficient multiplier; X2, first coefficient multiplier; P1-P3, first proportional integrator-third proportional integrator; M1-M2, first processor-second processor; D3, fifth multiplier; W3, differentiator; W1, high-frequency multiplier. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0021] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0022] Industrial servo equipment is prone to high-frequency vibration due to its rigidity and inertia. If the vibration amplitude is too large, it will affect the performance of the equipment and even lead to failure. High-frequency vibration is usually addressed by using notch filters, but notch filters can introduce problems such as phase lag, affecting the system's control accuracy.

[0023] Therefore, based on the shortcomings of the above high-frequency vibration suppression schemes, the high-frequency vibration suppression device of this application is proposed. The main solution of the embodiment of this application is: the controller unit, the controlled object unit and the high-frequency vibration suppression unit process the input position command and the model output position to obtain the model current value, speed feedback value, position feedback value, suppressed position value and suppressed speed value. The current-related model current value is input into the current input interface, the speed-related speed feedback value and suppressed speed value are input into the speed input interface, and the position-related position feedback value and suppressed position value are input into the position input interface. Then, after compensation by speed, current and position, high-frequency vibration suppression control is performed, which can avoid the phase lag problem caused by the command notch filter, thereby improving the control accuracy of the servo motor.

[0024] Based on this, embodiments of this application provide a high-frequency vibration suppression device, referring to... Figure 1 , Figure 1 This is a schematic diagram of one module of the high-frequency vibration suppression device of this application.

[0025] Reference Figure 1 This application provides a high-frequency vibration suppression device, which includes a parameter output module 100 and a driveable module 200 connected to the parameter output module 100. The driveable module 200 includes a position input interface 210, a speed input interface 220, and a current input interface 230. The parameter output module 100 includes: The controller unit 110 has its input terminal connected to the position input interface 210 and the speed input interface 220, and its output terminal connected to the current input interface 230. The controller unit 110 is used to receive the position command θM and the model output position θlM, and to generate the model current value iM based on the position command θM and the model output position θlM. The controlled object unit 120 has its input terminal connected to the output terminal of the controller unit 110, and its output terminal connected to the position input interface 210 and the speed input interface 220. The controlled object unit 120 is used to generate speed feedback value ωlM and position feedback value θlM based on the model current value iM. A high-frequency vibration suppression unit 130 is provided, wherein the input terminal of the high-frequency vibration suppression unit 130 is connected to the output terminal of the controller unit 120, and the output terminal of the high-frequency vibration suppression unit 130 is connected to the current input interface 230. The high-frequency vibration suppression unit 130 is used to generate a suppression current value iHM based on the model current value iM. The module to be driven 200 is used to perform drive control based on the model current value iHM and the suppression current value iHM received by the current input interface 210, the speed feedback value ωlM received by the speed input interface 220 and the position feedback value θlM received by the position input interface 230, so as to achieve high-frequency vibration suppression.

[0026] In this embodiment, the parameter output module 100 is connected to the drive module 200. The parameter output module 100 then processes the position command θM and the model output position θlM through the controller unit 110, the controlled object unit 120, and the high-frequency vibration suppression unit 130, obtaining values ​​such as the model current value iM, the velocity feedback value ωlM, the position feedback value θlM, and the suppression current value iHM. These values ​​are then input to the position input interface 210, velocity input interface 220, and current input interface 230 of the drive device 200 to achieve high-frequency vibration suppression. At this time, the drive control needs to be based on the obtained position, velocity, and current, thus avoiding the phase lag caused by the command notch filter, achieving accuracy in high-frequency vibration suppression (one manifestation of which is improving the amplitude and phase response of the system), thereby improving the control precision of the servo motor.

[0027] In one embodiment, the controller unit 110 processes the received position command θM (user input or specifically generated) and the model output position θlM (actually acquired position information, which can be a numerical value, such as a 30° position) to obtain the model current value iM (current value output by the controller unit 110). The processing method can be integration, differentiation, product, addition, or subtraction, and is not limited here. Then, the model current value iM is input to the controlled object unit 120. The controlled object unit 120 then processes the data to obtain the velocity feedback value ωlM (velocity value output by the controlled object unit 120) and the position feedback value θlM (position value output by the controlled object unit 120; the difference between this and the previous model output position θlM is that one is obtained through processing by the controller unit 110 and the controlled object unit 120, while the other is actually acquired, or it can be the same value previously obtained by the controller unit 110 and the controlled object unit 120). Simultaneously, the model current value iM is input to the high-frequency vibration suppression unit 130. The high-frequency vibration suppression unit 130 processes the model current value iM to obtain the suppression current value iHM (the current value output by the high-frequency vibration suppression unit 130). Thus, the model current value iM, velocity feedback value ωlM, position feedback value θlM, and suppression current value iHM are obtained. Combining these values ​​with the connection relationships between the output values ​​and the position input interface 210, velocity input interface 220, and current input interface 230, the position feedback value θlM is input to the position input interface 210, the velocity feedback value ωlM is input to the velocity input interface 220, and the model current value iM and suppression current value iHM are input to the current input interface 230. At this point, the device to be driven 200 not only controls based on the original current, velocity, and position values ​​but also considers the current, velocity, and position output by the parameter output module 100. The current, speed, and position output by the parameter output module 100 are used to compensate for the control parameters of the driven device 200, thereby avoiding the phase lag problem caused by the use of a command notch filter, and thus improving the control accuracy of the servo motor by reducing the response time of amplitude and phase.

[0028] In this embodiment, a high-frequency vibration suppression device is provided, including a parameter output module and a driveable module connected to the parameter output module. The driveable device includes a position input interface, a velocity input interface, and a current input interface. The parameter output module includes: a controller unit, the input terminal of which is connected to the position input interface and the velocity input interface, and the output terminal of which is connected to the current input interface. The controller unit is used to receive position commands and model output positions, and generate model current values ​​based on the position commands and the model output positions; and a controlled object unit, the input terminal of which is connected to the output terminal of the controller unit. The output terminal is connected to the position input interface and the velocity input interface. The controlled object unit is used to generate velocity feedback values ​​and position feedback values ​​based on the model current value. A high-frequency vibration suppression unit is also included, with its input terminal connected to the output terminal of the controller unit and its output terminal connected to the current input interface. This high-frequency vibration suppression unit is used to generate suppression current values ​​based on the model current value. The driven module is used to perform drive control based on the model current value and suppression current value received from the current input interface, the velocity feedback value received from the velocity input interface, and the position feedback value received from the position input interface, in order to achieve high-frequency vibration suppression. The controller unit, controlled object unit, and high-frequency vibration suppression unit process the input position command and model output position to obtain model current value, suppression current value, speed feedback value, and position feedback value. The current-related model current value and suppression current value are input to the current input interface, the speed-related speed feedback value is input to the speed input interface, and the position-related position feedback value is input to the position input interface. After compensation by speed, current, and position, high-frequency vibration suppression control is performed, thus eliminating the need for a command notch filter to achieve high-frequency vibration suppression. This avoids the phase lag problem caused by the command notch filter, thereby improving the control accuracy of the servo motor.

[0029] Furthermore, based on the first embodiment of this application described above, a second embodiment of the high-frequency vibration suppression device of this application is proposed. In this embodiment, reference is made to... Figure 2 , Figure 2 This is a circuit diagram of a high-frequency vibration suppression unit in the high-frequency vibration suppression device of this application. The high-frequency vibration suppression unit 130 includes: A high-pass filter subunit 131 is provided, the input of which is connected to the output of the controller unit 110. The high-pass filter subunit 131 includes one second-order high-pass filter or two first-order high-pass filters. A high-frequency multiplier W1 is provided, the input of which is connected to the output of the high-pass filter subunit 131, and the output of which is connected to the current input interface 230.

[0030] In this embodiment, the high-pass filter subunit 131 is used to process the model current value iM to obtain the suppressed current value iHM. The transformation method between the high-pass filter subunit 131 and the high-frequency multiplier W1 can be as follows: (1) (2) The high-pass filter subunit 131 includes one second-order high-pass filter or two first-order high-pass filters, namely the two first-order high-pass filters in formula (1) and one second-order high-pass filter in formula (2). The value is greater than 0, ωp is the high-frequency vibration frequency, ranging from 10 to 5000 Hz, and ωLPFM is the filtering frequency, ranging from 1000 to 5000 Hz. Furthermore, the high-frequency vibration suppression unit 130 can process the model current value iM to obtain the suppression current value iHM, thereby suppressing the servo device from generating high-frequency vibrations.

[0031] Furthermore, based on the first and / or second embodiments of this application described above, a third embodiment of the high-frequency vibration suppression device of this application is proposed. In this embodiment, reference is made to... Figure 3 , Figure 3 This is a circuit diagram of a controller unit in the high-frequency vibration suppression device of this application. The controller unit 110 includes: The first subtractor S1 has its first input terminal connected to the position command θM, and its second input terminal connected to the model output position θlM and the position input interface 210. Position gainer K1, the input of which is connected to the output of the first subtractor S1; The second subtractor S2 has its first input terminal connected to the output terminal of the position gainer K1, and its second input terminal connected to the controlled object unit 120 and the speed input interface 210. Speed ​​gainer K2, the input of which is connected to the output of the second subtractor S2; The first multiplier D1 has its input connected to the output of the speed gainer K2, and its output connected to the speed input interface 220 and the input of the high-pass filter subunit 131. The first multiplier D1 is also connected to the controlled object unit 130.

[0032] In this embodiment, the position command θM and the model output position θlM are input to the first subtractor S1. The first subtractor S1 determines the position command θM minus the model output position θlM to obtain the model position error value ΔθM. Then, the model position error value ΔθM is input to the position gain unit K1, where the gain value KppM can be set between 1-500Hz. By multiplying the model position error ΔθM by the gain value KppM, the velocity command ωM is obtained. Next, the velocity command ωM and the velocity feedback value ωlM (obtained from the model output position θlM, or calculated previously, or differentiated from the model output position θlM) are input to the second subtractor S2. The second subtractor S2 determines the velocity command ωM minus the velocity feedback value ωlM to obtain the model velocity error ΔωM. At this point, the model velocity error ΔωM is input to the velocity gain unit K2, where the gain value KvpM can be set between 1-2000Hz. The model acceleration value αlM is obtained by multiplying the model velocity error ΔωM by the gain value KvpM. Finally, the model acceleration value αlM is input to the first multiplier D1. In the first multiplier D1, the model acceleration value αlM is multiplied by the system inertia Jr and divided by the motor torque coefficient Kt to obtain the model current value iM. Here, the system inertia Jr and the motor torque coefficient Kt are parameters of the actual system and can be obtained from the actual system. Furthermore, through the above processing, the position command θM and the model output position θlM are input to the controller unit 110 to obtain the model current value iM, thus providing a processing basis for subsequent processing.

[0033] Furthermore, refer to Figure 4 , Figure 4 This is a circuit diagram of a controlled object unit in the high-frequency vibration suppression device of this application. The controlled object unit 130 includes: The second multiplier D2 has its input connected to the output of the first multiplier D1. The first integrator J1 has its input terminal connected to the output terminal of the second multiplier D2, and its output terminal is connected to the position input interface 210 and the second input terminal of the second subtractor S2.

[0034] In one embodiment, the controlled object unit includes: The first integrator J1 has its input terminal connected to the input terminal of the first multiplier D1, and its output terminal connected to the position input interface 210 and the second input terminal of the second subtractor S2.

[0035] In this embodiment, the control unit 130 outputs the velocity feedback value ωlM and the position feedback value θlM. It is worth noting that the velocity feedback value ωlM and the position feedback value θlM can be determined in two ways. One method is to multiply the model current value iM by the motor torque coefficient Kt to obtain the model torque value TM, and then divide the model torque value TM by the system inertia Jr to obtain the model acceleration value αlM. This involves obtaining the model acceleration value αlM again. The second multiplier D2 includes a third multiplier D21 and a fourth multiplier D22. Then, the model acceleration value αlM can be integrated in the first integrator J1 to obtain the velocity feedback value ωlM and the position feedback value θlM. Finally, the velocity feedback value ωlM is integrated again in the second integrator J2 to obtain the position feedback value θlM. Another approach is to directly connect the first integrator J1 to the input of the first multiplier D1. Since the input of the first multiplier D1 is the model acceleration value αlM, the cost of using the second multiplier D2 can be eliminated. Then, the controlled object unit 130 outputs the velocity feedback value ωlM and the position feedback value θlM, providing a basis for subsequent compensation and suppression control of current, velocity, and position.

[0036] In one embodiment, reference is made to Figure 5 , Figure 5This is a circuit diagram of a drive module in the high-frequency vibration suppression device of this application. The drive module 200 includes a third subtractor S3, the first input terminal of which is connected to the position input value θrm (the position value output by the actual parameter output module 100), and the second input terminal of which is connected to the actual output position value θm (the actual acquired position value) output by the acquisition terminal of the inverter; a first proportional-integral converter P1, the input terminal of which is connected to the output terminal of the third subtractor S3, and the first proportional-integral converter P1 is used to perform proportional calculation on the difference between the input velocity input value ωrm and the actual output position value θm to obtain the velocity value ωr; and a first processor M1. The first input terminal of M1 is connected to the output terminal of the first proportional-integral converter P1. The second input terminal of the first processor M1 is connected to the speed input value ωrm (the speed value output by the actual parameter output module 100). The third input terminal of the first processor M1 is connected to the actual output speed value ωm (the actual speed value). The first processor M1 is used to determine the sum of the speed value ωr and the speed input value ωrm, and to determine the speed error value Δωr between the sum and the actual output speed value ωm. Differentiator W3 has its input terminal connected to the inverter acquisition terminal, and its output terminal connected to the third input terminal of the first processor M1. Differentiator W3 is used to differentiate the actual output position value θm to obtain the actual output position value θm. The system outputs the velocity value ωm; a second proportional-integral converter P2, whose input is connected to the output of the first processor M1, is used to proportionally integrate the velocity error value Δωr to obtain the acceleration value αr; a fifth multiplier D5, whose input is connected to the output of the second proportional-integral converter P2, has a product coefficient of system inertia Jr and motor torque coefficient Kt, and is used to multiply the acceleration value αr to obtain the current value ir; a second processor M2, whose first input is connected to the current input value irm (the current value output by the actual parameter output module 100), and the second processor M2... The second input terminal is connected to the output terminal of the fifth multiplier D5. The third input terminal of the second processor M2 is connected to the actual output current value im (the actual acquired current value) output from the inverter's acquisition terminal. The second processor M2 is used to determine the sum between the current input value irm and the current value ir, and to determine the current difference between the sum and the actual output current value im. The third proportional-integral converter P3 has its input terminal connected to the output terminal of the second processor M2, and its output terminal connected to the inverter. After performing proportional-integral processing on the current difference, the inverter controls the motor to drive the load. The load transmits control transformer commands Tc and torque commands Tm back, such as... Figure 5As shown, the instruction notch filter for commonly used suppression methods can be directly set before and after the fifth multiplier D5. It is worth noting that the above is only an example connection relationship for the module 200 to be driven; other connection relationships are also possible and are not limited here.

[0037] Furthermore, based on the first, second, and / or third embodiments of this application described above, a fourth embodiment of the high-frequency vibration suppression device of this application is proposed. In this embodiment, reference is made to... Figure 7 , Figure 7 This is a circuit diagram of the high-frequency vibration suppression device of this application. The high-frequency vibration suppression device further includes: A first adder N1 has its first input terminal connected to the output terminal of the first multiplier D1, and its second input terminal connected to the output terminal of the high-frequency multiplier W1. The first coefficient multiplier X2 has its input terminal connected to the output terminal of the first adder N1, and its output terminal connected to the current input interface 230.

[0038] In one embodiment, the high-frequency vibration suppression device further includes: The second coefficient multiplier X1 has its input terminal connected to the output terminal of the first integrator J1, and its output terminal connected to the speed input interface 220.

[0039] In one embodiment, the controlled object unit 120 further includes: The second integrator J2 has its input terminal connected to the output terminal of the first integrator J1, and its output terminal connected to the position input interface 210.

[0040] In this embodiment, after determining the model current value iM, velocity feedback value ωlM, position feedback value θlM, and suppression current value iHM, their respective input interfaces are entered. The velocity feedback value ωlM is integrated by the second integrator J2 in the controlled object unit 120, and the position feedback value θlM is output. The position feedback value θlM is then used as the position input value θrm to the driven module 200. At this time, the difference between the position feedback value θlM and the actual output position value θm is processed as a new position command in the driven module 200. The velocity feedback value ωlM is multiplied by the second coefficient multiplier X1 to obtain the velocity input value ωrm. The coefficient Vffgain of the second coefficient multiplier X1 can be between 0 and 1. The velocity input value ωrm is then determined in the driven module 200. The difference between the actual output speed value ωm and the actual output speed value ωr is used as the sum of the difference and the speed value ωr, and then processed as a new speed command. The model current value iM and the suppression current value iHM are added by the first adder N1 and then output to the first coefficient multiplier X2. The first coefficient multiplier X2 multiplies the sum of the model current value iM and the suppression current value iHM to obtain the current input value irm. The coefficient iffgain of the first coefficient multiplier X2 can be between 0 and 1. At this point, the difference between the current input value irm and the actual output current value im is determined in the module to be driven 200, and the sum of the difference and the current value im is used as a new current command. Therefore, by controlling the motor through the new position command, speed command, and current command, the servo device can be effectively suppressed when subjected to high-frequency vibrations (improving amplitude and phase response), thereby improving the control accuracy of the servo motor.

[0041] Furthermore, based on the above embodiments, this application also provides a servo driver, which includes the aforementioned high-frequency vibration suppression device.

[0042] Based on the above embodiments, the present invention also proposes a servo control system, which includes the above-mentioned servo driver.

[0043] like Figure 6 As shown, the servo control system of this embodiment may include: a servo motor 400 and a servo driver 300.

[0044] The servo driver 300 is connected to the input power supply on its input side, and the servo motor 400 is connected to the load on its output side. By using the high-frequency vibration suppression device inside the servo driver 300, high-frequency vibration suppression control is achieved after compensation by speed, current and position. This avoids the phase lag problem caused by the command notch filter, thereby improving the control accuracy of the servo motor.

[0045] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A high-frequency vibration suppression device, characterized in that, The high-frequency vibration suppression device includes a parameter output module and a driveable module connected to the parameter output module. The driveable module includes a position input interface, a velocity input interface, and a current input interface. The parameter output module includes: The controller unit has its input terminal connected to the position input interface and the speed input interface, and its output terminal connected to the current input interface. The controller unit is used to receive position commands and model output positions, and to generate model current values ​​based on the position commands and model output positions. The controlled object unit has its input terminal connected to the output terminal of the controller unit, and its output terminal connected to the position input interface and the speed input interface. The controlled object unit is used to generate speed feedback values ​​and position feedback values ​​based on the model current values. A high-frequency vibration suppression unit is provided, with its input connected to the output of the controller unit and its output connected to the second input of a first adder in the high-frequency vibration suppression device. The high-frequency vibration suppression unit generates a suppression current value based on the model current value. The high-frequency vibration suppression unit includes: a high-pass filter subunit, with its input connected to the output of the controller unit; and a high-frequency multiplier, with its input connected to the output of the high-pass filter subunit and its output connected to the second input of the first adder. The high-frequency multiplier divides the input signal by the square of the high-frequency vibration frequency to obtain an output signal. The first input of the first adder is connected to the output of the controller unit. After adding the model current value and the suppression current value through the first adder, the sum is output to a first coefficient multiplier. The first coefficient multiplier multiplies the sum of the model current value and the suppression current value to obtain a current input value, which is then sent to the current input interface. The module to be driven is used to perform drive control based on the current input value received by the current input interface, the speed feedback value received by the speed input interface, and the position feedback value received by the position input interface, so as to achieve high-frequency vibration suppression.

2. The high-frequency vibration suppression device as described in claim 1, characterized in that, The high-pass filter subunit includes one second-order high-pass filter or two first-order high-pass filters.

3. The high-frequency vibration suppression device as described in claim 1, characterized in that, The controller unit includes: A first subtractor, wherein the first input terminal of the first subtractor is connected to the position command, and the second input terminal of the first subtractor is connected to the model output position and is connected to the position input interface; A position gainer, the input of which is connected to the output of the first subtractor; The second subtractor has its first input connected to the output of the position gain unit, and its second input connected to the controlled object unit and the speed input interface. A speed gainer, the input of which is connected to the output of the second subtractor; The first multiplier has its input connected to the output of the speed gain unit, and its output connected to the first input of the first adder and the input of the high-pass filter subunit. The first multiplier is also connected to the controlled object unit.

4. The high-frequency vibration suppression device as described in claim 3, characterized in that, The controlled object unit includes: A second multiplier, the input of which is connected to the output of the first multiplier; A first integrator, the input of which is connected to the output of the second multiplier, and the output of which is connected to the second input of the second subtractor.

5. The high-frequency vibration suppression device as described in claim 3, characterized in that, The controlled object unit includes: A first integrator, the input of which is connected to the input of the first multiplier, and the output of which is connected to the second input of the second subtractor.

6. The high-frequency vibration suppression device as described in claim 5, characterized in that, The high-frequency vibration suppression device further includes: The second coefficient multiplier has its input connected to the output of the first integrator, and its output connected to the speed input interface.

7. The high-frequency vibration suppression device as described in claim 5, characterized in that, The controlled object unit further includes: A second integrator, the input of which is connected to the output of the first integrator, and the output of which is connected to the position input interface.

8. A servo driver, characterized in that, The servo driver includes a high-frequency vibration suppression device as described in any one of claims 1 to 7.

9. A servo control system, characterized in that, The servo control system includes a servo motor and a servo driver as described in claim 8 connected to the servo motor.

Images