基于自适应陷波器的伺服系统谐振抑制
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摘要
为了提高伺服系统的性能,需对伺服系统中机械传动装置刚度有限所引发的机械谐振问题进行研究。文章提出了基于改进的FFT在线频率检测法结合陷波滤波器的自适应谐振抑制策略。通过提取旋转因子的公因子来减少内存的读取次数,进而提高FFT的频域分析速率。利用改进的FFT分析伺服系统中电机的转速误差信号,提取谐振频率信息;又设计了一种获取陷波器宽度、深度参数的方法。利用得到的陷波频率、宽度、深度参数设计陷波滤波器来达到谐振抑制的目的。最后通过实验得出,该方案能有效抑制伺服系统的机械谐振。
In order to improve the performance of the servo system,the mechanical resonance problem caused by the limited stiffness of the mechanical transmission in the servo system must be studied.This paper proposes an adaptive resonance suppression strategy based on an improved FFT online frequency detection method combined with a notch filter.By extracting the common factor of the twiddle factors,the number of memory reads is reduced,and the frequency domain analysis rate of the FFT is improved.The improved FFT was used to analyze the speed error signal of the motor in the servo system,and the resonant frequency information was extracted.A method to obtain the notch width and depth parameters was designed.Using the notch frequency,width,and depth parameters obtained,a notch filter is designed to achieve resonance suppression.Finally,through experiments,the program can effectively suppress the mechanical resonance of the servo system.
In order to improve the performance of the servo system,the mechanical resonance problem caused by the limited stiffness of the mechanical transmission in the servo system must be studied.This paper proposes an adaptive resonance suppression strategy based on an improved FFT online frequency detection method combined with a notch filter.By extracting the common factor of the twiddle factors,the number of memory reads is reduced,and the frequency domain analysis rate of the FFT is improved.The improved FFT was used to analyze the speed error signal of the motor in the servo system,and the resonant frequency information was extracted.A method to obtain the notch width and depth parameters was designed.Using the notch frequency,width,and depth parameters obtained,a notch filter is designed to achieve resonance suppression.Finally,through experiments,the program can effectively suppress the mechanical resonance of the servo system.
引文
[1]王璨,杨明,徐殿国.基于PI控制的双惯量弹性系统机械谐振的抑制[J].电气传动,2015,45(1):49-53.
[2]Wen Li,Yoichi Hori.Vibration Suppression Using Single Neuron-Based PI Fuzzy Controller and Fractional-Order Disturbance Observer[J].IEEE Transactions on Industrial Electronics,2007,54(1):117-126.
[3]Jae Sung Bang,Shim H,Sang K P,et al.Robust Tracking and Vibration Suppression for a Two-Inertia System by Combining Backstepping Approach With Disturbance Observer[J].IEEE Transactions on Industrial Electronics,2010,57(9):3197-3206.
[4]张卫国,曹永刚,陈涛.用数字滤波器改善光电经纬仪机械谐振频率的方法[J].光学精密工程,1999,7(2):77-82.
[5]Hisashi Kataoka,Miyazaki T,Ohishi K,et al.Tracking control for industrial robot using notch filtering system with little phase error[J].Ieej Transactions on Industry Applications,2011,175(1):53-63.
[6]Kataoka H,Tungpataratanawong S,Ohishi K.Motion Control of Industrial Robot Using New Notch Filtering System for Vibration Suppression and Little Phase Error[C]//Icm2007,IEEE International Conference on Mechatronics.2007:12808-12817.
[7]杨明,郝亮,徐殿国,等.基于自适应陷波滤波器的在线机械谐振抑制[J].哈尔滨工业大学学报,2014,46(4):63-69.
[8]Huijun Wang,Dong-Hee Lee,Zhen-Guo Lee,Jin-Woo Ahn.Vibration Rejection Scheme of Servo Drive System with Adaptive Notch Filter[C].Power Electronics Specialists Conference,PESC’06 37th IEEE,2006:1-6.
[9]Erenturk K.Nonlinear two-mass system control with slidingmode and optimised proportional-integral derivative controller combined with a grey estimator[J].Iet Control Theory&Applications,2008,2(7):635-642.
[10]Fu J,Yang W,Li B,et al.H∞Filter and Load Observer Based Compensative Control for Vibration Suppression of Rolling Mill[J].IEEE,2006,1:2209-2213.
[11]万佑红,王锁萍.一种改进FFT算法在DSP上的实现[J].计算机工程与应用,2006,42(29):84-86.
[2]Wen Li,Yoichi Hori.Vibration Suppression Using Single Neuron-Based PI Fuzzy Controller and Fractional-Order Disturbance Observer[J].IEEE Transactions on Industrial Electronics,2007,54(1):117-126.
[3]Jae Sung Bang,Shim H,Sang K P,et al.Robust Tracking and Vibration Suppression for a Two-Inertia System by Combining Backstepping Approach With Disturbance Observer[J].IEEE Transactions on Industrial Electronics,2010,57(9):3197-3206.
[4]张卫国,曹永刚,陈涛.用数字滤波器改善光电经纬仪机械谐振频率的方法[J].光学精密工程,1999,7(2):77-82.
[5]Hisashi Kataoka,Miyazaki T,Ohishi K,et al.Tracking control for industrial robot using notch filtering system with little phase error[J].Ieej Transactions on Industry Applications,2011,175(1):53-63.
[6]Kataoka H,Tungpataratanawong S,Ohishi K.Motion Control of Industrial Robot Using New Notch Filtering System for Vibration Suppression and Little Phase Error[C]//Icm2007,IEEE International Conference on Mechatronics.2007:12808-12817.
[7]杨明,郝亮,徐殿国,等.基于自适应陷波滤波器的在线机械谐振抑制[J].哈尔滨工业大学学报,2014,46(4):63-69.
[8]Huijun Wang,Dong-Hee Lee,Zhen-Guo Lee,Jin-Woo Ahn.Vibration Rejection Scheme of Servo Drive System with Adaptive Notch Filter[C].Power Electronics Specialists Conference,PESC’06 37th IEEE,2006:1-6.
[9]Erenturk K.Nonlinear two-mass system control with slidingmode and optimised proportional-integral derivative controller combined with a grey estimator[J].Iet Control Theory&Applications,2008,2(7):635-642.
[10]Fu J,Yang W,Li B,et al.H∞Filter and Load Observer Based Compensative Control for Vibration Suppression of Rolling Mill[J].IEEE,2006,1:2209-2213.
[11]万佑红,王锁萍.一种改进FFT算法在DSP上的实现[J].计算机工程与应用,2006,42(29):84-86.