伺服系统柔性连接负载控制方法研究
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摘要
工业应用中普遍存在柔性连接负载，可能使伺服系统在速度、位置控制中产生振荡或强迫伺服系统降低响应，影响伺服系统的控制品质，因此研究柔性负载控制的振荡抑制问题对提高伺服系统性能具有重要意义。本文以伺服系统柔性负载控制方法为主线，在广泛总结国内外研究工作的基础上，基于柔性负载二质量系统模型展开分析，采用理论推导、数值仿真与物理实验相结合的研究方法，针对不同频率范围内的振荡现象进行了有针对性的抑制方法研究。主要研究内容与成果如下：
针对远低于速度环开环-180°穿越频率的低频振荡，采用基于IP速度调节器的控制结构进行振荡抑制，提出了虚实结合与基于扩展反馈结构的极点配置方法，有效拓展了传统极点配置法的惯量比适用范围，实现了较大惯量比范围内低频振荡的有效抑制。
针对频率稍高，但仍低于速度环穿越频率的中频振荡，采用负载转矩观测器构成扩展反馈结构进行振荡抑制，根据可调惯量比控制的思想与系数图法确定了扩展反馈增益与控制器参数的计算方法。在此基础上分析了非理想反馈对控制性能的影响，并根据理论分析与仿真结果提出了观测器带宽选择的原则，部分解决了中频振荡抑制问题。
针对速度环穿越频率附近的高频谐振，采用基于自适应陷波器的控制结构进行抑制。针对较高阻尼系数造成的谐振频率检测偏差，运用描述函数法分析其成因，并提出了一种基于自调整低通滤波器的校正方法，提高了自适应陷波器的可靠性，确保了高频谐振的有效抑制。
针对低负载惯量比情况下干扰力矩较小的情况，采用基于开环控制原理的输入整形器进行抑制，提出了采用输入整形器的柔性连接负载速度、位置控制结构。针对数字控制系统的特点采用了时间最优输入整形器并提出了其参数选择方法，解决了低惯量比振荡抑制问题。
本文综合采用开环、闭环控制方式，为解决伺服系统柔性负载控制中的振荡抑制问题提供了一整套方法。经实验验证，该套方法能有效抑制多种频率与负载惯量比条件下的振荡。
Compliant coupled loads, which are universal in applications, often lead to lowresponses or vibrations in speed and position control, thus lowering the performance of theservo system. As a result, control of the compliant coupled loads and vibration suppressionhave become an important problem for servo systems. Based on the two-mass model, thisthesis carried out studies towards vibrations within different frequency range. The majorcontents and achievements are as follows:
For low frequency vibrations which are far below the crossover frequency of thespeed loop, the control structure based on IP speed regulator was adopted. Two new poleplace methods were proposed to expand the narrow load inertia ratio of the traditionalmethods. One of the proposed methods was based on the combination of real and complexpoles, and the other was based on expanded feedback structures, thus achieving effectivevibration suppression within a wide range of load ratio.
For middle-frequency vibrations whose frequencies are higher, but still below thecrossover frequency, a disturbance observer was adopted to realize the extended feedbackstructure. Parameters of the controller were selected according to resonance ratio controlstructure and coefficient diagram method. The unfavorable effect cussed by undeaddisturbance observe was analyzed and the criterions for band width selection of theobserver was proposed, thus partially achieving vibration suppression within themiddle-frequency range.
For middle-frequency resonances which are close with the crossover frequency of thespeed loop, suppression methods based on adaptive notch filter was adopted. The reasonfor the resonance frequency detection errors caused by high damping coefficient wasanalyzed with describing function method, and an approach for frequency correction wasproposed based on self-tuning low pass filter, which guaranteed the effectiveness of theadaptive notch filter
For vibrations with small load inertia ratio and little disturbance, the use of inputshaper was proposed for speed and position control of a servo system with compliantcoupled loads. Time optimal input shaper was selected as the most appropriate for fullydigital controlled servo systems. Parameter selection criterions of the Time optimal inputshaper were also studied, thus achieving vibration suppression for small inertia ratio.
With the study of compliant coupled loads controls the main theme, this thesis performed a detailed survey of relevant research reports. The close-loop method wascombined with the open-loop method in providing an entire set of solutions for vibrationsuppression problems in the control of compliant coupled loads. Experiment resultsproved that the proposed set of solutions is capable of suppressing vibrations within widefrequency ranges and inertia ratio range.
针对远低于速度环开环-180°穿越频率的低频振荡，采用基于IP速度调节器的控制结构进行振荡抑制，提出了虚实结合与基于扩展反馈结构的极点配置方法，有效拓展了传统极点配置法的惯量比适用范围，实现了较大惯量比范围内低频振荡的有效抑制。
针对频率稍高，但仍低于速度环穿越频率的中频振荡，采用负载转矩观测器构成扩展反馈结构进行振荡抑制，根据可调惯量比控制的思想与系数图法确定了扩展反馈增益与控制器参数的计算方法。在此基础上分析了非理想反馈对控制性能的影响，并根据理论分析与仿真结果提出了观测器带宽选择的原则，部分解决了中频振荡抑制问题。
针对速度环穿越频率附近的高频谐振，采用基于自适应陷波器的控制结构进行抑制。针对较高阻尼系数造成的谐振频率检测偏差，运用描述函数法分析其成因，并提出了一种基于自调整低通滤波器的校正方法，提高了自适应陷波器的可靠性，确保了高频谐振的有效抑制。
针对低负载惯量比情况下干扰力矩较小的情况，采用基于开环控制原理的输入整形器进行抑制，提出了采用输入整形器的柔性连接负载速度、位置控制结构。针对数字控制系统的特点采用了时间最优输入整形器并提出了其参数选择方法，解决了低惯量比振荡抑制问题。
本文综合采用开环、闭环控制方式，为解决伺服系统柔性负载控制中的振荡抑制问题提供了一整套方法。经实验验证，该套方法能有效抑制多种频率与负载惯量比条件下的振荡。
Compliant coupled loads, which are universal in applications, often lead to lowresponses or vibrations in speed and position control, thus lowering the performance of theservo system. As a result, control of the compliant coupled loads and vibration suppressionhave become an important problem for servo systems. Based on the two-mass model, thisthesis carried out studies towards vibrations within different frequency range. The majorcontents and achievements are as follows:
For low frequency vibrations which are far below the crossover frequency of thespeed loop, the control structure based on IP speed regulator was adopted. Two new poleplace methods were proposed to expand the narrow load inertia ratio of the traditionalmethods. One of the proposed methods was based on the combination of real and complexpoles, and the other was based on expanded feedback structures, thus achieving effectivevibration suppression within a wide range of load ratio.
For middle-frequency vibrations whose frequencies are higher, but still below thecrossover frequency, a disturbance observer was adopted to realize the extended feedbackstructure. Parameters of the controller were selected according to resonance ratio controlstructure and coefficient diagram method. The unfavorable effect cussed by undeaddisturbance observe was analyzed and the criterions for band width selection of theobserver was proposed, thus partially achieving vibration suppression within themiddle-frequency range.
For middle-frequency resonances which are close with the crossover frequency of thespeed loop, suppression methods based on adaptive notch filter was adopted. The reasonfor the resonance frequency detection errors caused by high damping coefficient wasanalyzed with describing function method, and an approach for frequency correction wasproposed based on self-tuning low pass filter, which guaranteed the effectiveness of theadaptive notch filter
For vibrations with small load inertia ratio and little disturbance, the use of inputshaper was proposed for speed and position control of a servo system with compliantcoupled loads. Time optimal input shaper was selected as the most appropriate for fullydigital controlled servo systems. Parameter selection criterions of the Time optimal inputshaper were also studied, thus achieving vibration suppression for small inertia ratio.
With the study of compliant coupled loads controls the main theme, this thesis performed a detailed survey of relevant research reports. The close-loop method wascombined with the open-loop method in providing an entire set of solutions for vibrationsuppression problems in the control of compliant coupled loads. Experiment resultsproved that the proposed set of solutions is capable of suppressing vibrations within widefrequency ranges and inertia ratio range.
引文
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