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Method and system for suppressing residual vibration of positioning device

A residual oscillation and positioning device technology, applied in the field of servo control, can solve the problems of small damping coefficient, inconvenient measurement, inconvenient ZVD, etc.

Inactive Publication Date: 2016-11-23
SHENZHEN ENCOM ELECTRIC TECH
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  • Description
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Problems solved by technology

However, the damping coefficient in the actual system is very small, which is inconvenient to measure and also brings inconvenience to the use of ZVD
[0005] In addition, the current pulse shaper is implemented in the position planning stage of the upper controller (such as motion control card, motion controller, PLC, etc.), and is not integrated in the servo drive

Method used

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  • Method and system for suppressing residual vibration of positioning device
  • Method and system for suppressing residual vibration of positioning device
  • Method and system for suppressing residual vibration of positioning device

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Embodiment Construction

[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0062] The purpose of the present invention is to provide a method and system for suppressing residual vibration, which can effectively suppress the residual vibration at the end of the mechanical load in the positioning device, and can also overcome the large amount of computation and the real-time nature of the shaper design process in the prior art. Low, the technical problem that the system damping coefficient is not easy to measure and determine.

[0063]...

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Abstract

The invention discloses a method and system for suppressing residual oscillation of a positioning device. Especially for the positioning control device of the low-rigidity mechanical equipment driven by the servo drive, the method is implemented by the servo drive. Specifically include: obtaining the original position command; obtaining the amplitude and time delay of n consecutive action pulses; obtaining the servo position control period; calculating the discrete transfer function of the zero-oscillation zero-derivative shaper; using the discrete transfer function of the zero-oscillation zero-derivative shaper The original position command is reshaped to obtain the reshaped discretized position command; the motor is driven to rotate according to the reshaped discretized position command to suppress the residual oscillation at the end of the mechanical load connected to the motor shaft when the positioning device finishes positioning. The driver provided by the invention has the function of shaping the original position command, so that the positioning device can not only perform positioning within the allowable positioning error range, but also shorten the positioning time and improve the working efficiency of the equipment.

Description

technical field [0001] The invention relates to the field of servo control, in particular to a method and system for suppressing residual oscillation of a positioning device. Background technique [0002] At present, the application of AC servo system in the field of modern automation is increasingly widespread, such as in positioning control devices such as textiles, packaging, assembly, and laser processing. Especially for low-rigidity equipment such as industrial robots, after rapid positioning, the end of the load (such as the end of the robot arm) is prone to residual oscillation. This kind of residual vibration can easily lead to problems such as prolonging the system positioning time and increasing the positioning error. In order to enable the positioning control device to perform positioning within the allowable positioning error range and reduce the positioning time, pulse input shaping is generally used in the existing technology. Pulse input shaping mainly inclu...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 吴远
Owner SHENZHEN ENCOM ELECTRIC TECH
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