兰州理工大学学报

兰州理工大学学报 ›› 2022, Vol. 48 ›› Issue (4): 76-82.

• 自动化技术与计算机技术 • 上一篇    下一篇

基于轴转矩补偿的永磁伺服系统机械谐振抑制

包广清*1,2,3, 杜赫轩1,2,3, 祁武刚1,2,3   

  1. 1.兰州理工大学 电气工程与信息工程学院, 甘肃 兰州 730050;
    2.兰州理工大学 甘肃省工业先进控制重点实验室, 甘肃 兰州 730050;
    3.兰州理工大学 电气与控制工程国家级试验教学示范中心, 甘肃 兰州 730050
  • 收稿日期:2020-12-26 出版日期:2022-08-28 发布日期:2022-10-09
  • 通讯作者: 包广清(1972-),女,甘肃兰州人,博士,教授,博导.Email:baogq03@163.com
  • 基金资助:
    国家自然科学基金(51967012),甘肃省重点研发计划项目(20YF8GA055)

Mechanical resonance suppression of permanent magnet servo system based on shaft torque compensation

BAO Guang-qing1,2,3, DU He-xuan1,2,3, QI Wu-gang1,2,3   

  1. 1. College of Electrical and Information Engineering,Lanzhou Univ. of Tech., Lanzhou 730050, China;
    2. Key Laboratory of Gansu Advanced Control for Industrial Process, Lanzhou Univ. of Tech., Lanzhou 730050, China;
    3. National Demonstration Center for Experimental Electrical and Control Engineering Education, Lanzhou Univ. of Tech., Lanzhou 730050, China
  • Received:2020-12-26 Online:2022-08-28 Published:2022-10-09

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摘要： 柔性传动装置会在交流永磁伺服系统中引发机械谐振,并降低系统的动态性能和控制精度,为此提出一种基于卡尔曼滤波器的轴转矩补偿谐振抑制方法.该方法通过卡尔曼滤波器获得柔性传动装置的轴转矩估计值,将其转化为电流信号并补偿到电流环给定,由此消除柔性传动对电机转速的影响,同时提高了系统的动态性能.最后通过仿真验证了该方法的有效性.

关键词: 永磁同步电机, 两质量模型, 机械谐振, 状态反馈, 卡尔曼滤波器

Abstract: Flexible drive will cause mechanical resonance in the AC permanent magnet servo system and degrade the dynamic performance and control accuracy of the system. Therefore, a Kalman filter-based resonance suppression method for shaft torque compensation is proposed. In this method, the shaft torque estimation value of the flexible drive device is obtained by Kalman filter, which is converted into a current signal and compensated to the given current loop, so as to eliminate the influence of the flexible transmission on the motor speed and improve the dynamic performance of the system. Finally, the effectiveness of the method is verified by simulation.

Key words: permanent magnet synchronous motor, two mass model, mechanical resonance, state feedback, Kalman filter

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