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Method and system for suppressing vibration of mechanically moving structures

A technology of mechanical motion and structural vibration, applied in the field of mechanical control, can solve the problems of expensive, ineffective, low efficiency, etc.

Active Publication Date: 2021-10-08
东莞固高自动化技术有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method not only requires expensive sensors and their signal amplifiers, but also needs to analyze the signals offline, which is inefficient and cannot achieve optimal results

Method used

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  • Method and system for suppressing vibration of mechanically moving structures
  • Method and system for suppressing vibration of mechanically moving structures
  • Method and system for suppressing vibration of mechanically moving structures

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Embodiment Construction

[0042] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0043] It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions are used herein for the purpos...

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Abstract

The present invention relates to a method and system for suppressing vibration of a mechanical moving structure. Including: respectively acquiring the acceleration signals of the three axes of X, Y and Z during the movement of the mechanical motion structure; performing Fourier analysis on the acceleration signals to obtain the curve relationship between the vibration frequency and the vibration amplitude of the three axes respectively; according to the curve relationship Obtain the frequency ωd1 of the highest vibration amplitude in the three axes; obtain the damping coefficient ζ1 of the axis where ωd1 is located according to the acceleration signal of the axis where ωd1 is located; obtain the parameters of the input command shaper of the axis where ωd1 is located according to ωd1 and ζ1; use the parameters to correct the mechanical Movement of the movement structure. This scheme obtains the parameters of the input command shaper of the axis where ωd1 is located through ωd1 and ζ1, and uses the obtained parameters of the input command shaper to correct the motion of the mechanical motion structure, which can eliminate the influence of vibration on the motion of the mechanical motion structure and improve the mechanical motion. The positioning accuracy of the structure and the stability of the mechanical movement structure.

Description

technical field [0001] The invention relates to the technical field of mechanical control, in particular to a method for suppressing the vibration of a mechanical moving structure and a system for suppressing the vibration of a mechanical moving structure. Background technique [0002] With the increasingly widespread application of AC servo systems, the end-effectors are often required to have strong rapid positioning capabilities during automated assembly and processing on industrial production lines. However, due to the flexible connection of the end effector, it causes long-term residual vibration after the end of the motion, and it is more obvious in the case of high-speed, high-acceleration motion, which greatly reduces the positioning accuracy and convergence speed of the end effector, and even affect the stability of the control system. At the same time, some end effectors grasp the mass or inertia of the workpiece, which will cause the frequency of residual vibrati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/414
CPCG05B19/4142G05B2219/34013
Inventor 贾松涛梁衍学
Owner 东莞固高自动化技术有限公司
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