Vibration suppression method and system for variable-load servo system based on notch filter

Abstract

The invention provides a vibration suppression method and system for a variable-load servo system based on a notch filter. The method comprises the steps: starting from a time domain model of the servo system, directly analyzing the real-time position data transmitted from a position sensor, preferentially using the time difference between the two extreme points at the time when the residual vibration starts to analyze the vibration center frequency, configuring the notch filter, and then correcting the center frequency by the time difference of the adjacent maximum points after the vibration.The invention has the beneficial effects that the time domain analysis method adopted by the technical solution proposed by the invention can quickly detect the change of the center frequency, and the center frequency can be obtained in one cycle after the load changes to generate vibration; the real-time performance is strong, and according to the subsequent vibration condition, the real-time correction of the filter parameters and the center frequency is performed, an excellent filtering effect is obtained; in the case of the variable load, the method is a simple and highly real-time vibration suppression method.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a vibration suppression method and system for a variable load servo system based on a notch filter. Background technique [0002] Servo system is an important part of industrial automation and a necessary way to achieve precise positioning and precise movement in the automation industry. The servo system can make the output parameters such as the position, speed and torque of the system terminal actuator accurately follow the change of the input quantity. [0003] In recent years, AC servo technology has developed rapidly and has excellent performance, and has gradually become the main super product of servo. However, in actual use, the rapidity and positioning accuracy of the system often cannot be taken into account at the same time. In the system that requires high rapidity, some steady-state accuracy of the system is usually sacrificed, and the system has a large overs...

AI Technical Summary

Problems solved by technology

[0006] The existing method is aimed at the situation that the load is constant. When the load changes, the vibration center frequency will change, and the filter needs to be reconfigured. However, the filter is configured offline in the actual process, and the specific configuration process is performed after the vibration. carried out, this method cannot be used under variable load conditions

[0007] The fast Fourier transform technology converts the signal from the time domain to the frequency domain. The result is very intuitive and easy to analyze the frequency. However, the Fourier transform requires a certain amount of basic data to obtain an accurate spectrum. In the actual process, the mechanical The high-speed state change of the motor in the arm servo system requires high real-time performance. If the sampling analysis is done first, and then the data of the previous period is brought into the later period after the end, due to the real-time change of the load, it is not enough to support the Fourier transform. Sufficient data is required, so the method of designing notch filters using Fourier transform analysis parameters is not feasible under variable load conditions

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