Motor Control Filter for Low-Frequency Vibration Suppression
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Solution Overview
Problem
Existing motor controlling systems face challenges in effectively suppressing low-frequency vibrations in machinery systems, particularly when using acceleration feedback control, due to the formation of dipoles in pole assignments, which can lead to overshoot and instability in step responses.
Innovation Solution
The implementation of a motor controlling device that includes a position controller, speed controller, motor drive, and an acceleration feedback signal generator, along with a positional reference filter capable of suppressing low-frequency vibrations by removing the zero point and poles of the dipole assignment, using a primary low pass filter and a dipole removal filter to stabilize the control system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If acceleration feedback control is used to suppress vibrations, then vibration suppression capability is improved, but low-frequency vibrations cause overshoot and instability in step responses
Solution Approach 1:
The patent changes the parameter configuration by introducing a positional reference filter with specific transfer function characteristics (containing a zero point and pole) that modifies the frequency response of the control system. This filter selectively attenuates low-frequency components in the positional reference signal, preventing the excitation of low-frequency vibrations that cause overshoot and instability, while preserving the acceleration feedback control's effectiveness for higher-frequency vibration suppression.
2Speed
If filter delay is reduced to maintain rapid response rate, then response speed is improved, but filtering effectiveness for low-frequency vibration suppression may be compromised
Solution Approach 1:
The patent optimizes the filter parameters (time constants T1 and T2 in the transfer function (T2s+1)/(T1s+1)) to achieve an optimal balance between response speed and filtering effectiveness. By carefully selecting these parameters, the system maintains a rapid response rate while ensuring sufficient attenuation of low-frequency vibrations, resolving the contradiction between speed and effectiveness.
Data Source
AI summary
A motor controlling device is provided. The device includes a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, a motor drive for driving a motor based on the torque reference, the motor driving machinery to which an acceleration sensor is attached, an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, and a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery.