兰州理工大学学报

兰州理工大学学报 ›› 2024, Vol. 50 ›› Issue (3): 84-89.

• 自动化技术与计算机技术 • 上一篇    下一篇

基于IP控制与负载加速度反馈的伺服系统机械谐振抑制方法

孙岩, 包广清*, 杜赫轩   

  1. 兰州理工大学 电气工程与信息工程学院, 甘肃 兰州 730050
  • 收稿日期:2022-05-04 出版日期:2024-06-28 发布日期:2024-07-02
  • 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(20YF8GA055)

Mechanical resonance suppression method for servo system based on IP control and load acceleration feedback

SUN Yan, BAO Guang-qing, DU He-xuan   

  1. College of Electrical and Information Engineering, Lanzhou Univ. of Tech., Lanzhou 730050, China
  • Received:2022-05-04 Online:2024-06-28 Published:2024-07-02

PDF

10

摘要： 当伺服系统带宽覆盖传动装置的固有频率时,容易在系统中引发机械谐振,严重影响系统的动态性能与控制精度.针对这一问题,提出了IP控制结合负载侧加速度状态反馈的伺服系统谐振抑制策略.通过在转速环采用IP控制,有效降低了系统的超调,并且在电流环引入加速度反馈,增加了系统极点配置的自由度.在此基础上,根据相同阻尼系数的极点配置方法,以最优阻尼比为设计目标,讨论了系统控制器关键参数与状态反馈增益的取值范围.最终,对所提控制方法的有效性进行了仿真验证.

关键词: 双惯量弹性系统, 加速度反馈, 极点配置, 谐振抑制

Abstract: When the bandwidth of a servo system covers the natural frequency of the transmission device, it is easy to cause mechanical resonance in the system, which seriously affects the dynamic performance and control accuracy of the system. To solve this problem, a resonance suppression strategy of a servo system based on IP control with load-side acceleration state feedback is proposed in this paper. By using IP control in the speed loop, the overshoot of the system is effectively reduced, while the acceleration feedback is introduced in the current loop to increase the degree of freedom of pole placement. On this basis, according to the pole assignment method with the same damping coefficient and taking the optimal damping ratio as the design goal, the value range of the key parameters of the system controller and the state feedback gain are discussed.Finally, the effectiveness of the proposed control method is verified by simulation.

Key words: dual inertia elastic system, acceleration feedback, pole configuration, resonance suppression

中图分类号: