A Vibration Suppression Method of AC Servo Motor Based on Model Tracking Control

Abstract

The invention discloses a model following control-based vibration suppression method for an alternating current servo motor. According to the method, a controlled quantity of a system is input into an ideal control module formed by a model reference adaptive algorithm; an output of the ideal model is supposed to be equal to an actual output; when an actual system is disturbed by the outside, the actual system follows the ideal model and makes a response to the disturbance; and the calculated controlled quantity for counteracting the disturbance is added to the controlled quality of the actual system, so that the targets of stabilizing the system and eliminating the disturbance are achieved. The model following control-based vibration suppression method is essentially a disturbance observer method; compared with a common disturbance observer, a differentiation element does not exist; the model following control-based vibration suppression method is high in noise immunity and simple to achieve; mechanical vibration under a flexible load and a rigid load at different frequencies can be effectively suppressed; and the speed responsiveness of the motor is improved.

Description

technical field [0001] The invention relates to a vibration suppression method for a motor, in particular to a vibration suppression method for an AC servo motor. Background technique [0002] With the increasing application of AC servo systems, various fields have put forward higher requirements for its responsiveness, positioning time and positioning accuracy. Generally, the responsiveness of the servo is improved by increasing the gain of the position loop and the speed loop, and the positioning time is shortened, but high gain often causes the system to generate greater mechanical vibration, especially in systems with flexible connections, the vibration phenomenon is more serious. At present, the main vibration suppression methods include filter method, observer method, robust control and intelligent control. [0003] Among the many methods of vibration suppression through filters, the most representative is the adaptive notch filter, which obtains the resonance point o...

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Problems solved by technology

[0005] h ∞ Robust control, fuzzy neural network control, genetic algorithm, model predictive control and other intelligent control algorithms do not depend or do not completely depend on the mathematical model of the controlled object, which can overcome the influence of unfavorable factors such as uncertainty and nonlinearity of the servo system, Effectively realize vibration suppression, but there are shortcomings of complex algorithms, difficult implementation, and difficult determination of control parameters

[0006] The patent document "Adaptive Servo Controller Based on Model Tracking" (application number: 201010190932.9) discloses an adaptive servo control algorithm based on model tracking control, which is a parameter adaptive control system, and the adaptive adjustment is the control It has good adaptability to the disturbance of system inertia, load and motor parameters, but its adaptive law is complex and requires many parameters to be adjusted, and a differential link is introduced in the algorithm, which weakens the system's anti-noise ability

[0007] The patent document "A Method for Parameter Identification of Permanent Magnet Synchronous Motors" (Application No.: 201310573844.0) discloses a speed sensorless control method based on a cascaded model reference adaptive algorithm. Adaptive identification can effectively weaken the influence of motor parameter changes on the speed estimation. It mainly studies the improvement of the low-speed performance of the motor by this method, but does not analyze its performance when used to suppress system vibration, and because there are two models Refer to the adaptive algorithm module, the implementation is more complicated

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