交流伺服系统振动鲁棒M/T测速算法

Mechanical-vibration-robust M/T speed detection method of AC servo system

针对使用增量式正交脉冲编码器进行测速的交流伺服系统中M/T测速算法易受电机转子机械振动干扰的问题,提出一种基于假脉冲剔除的M/T测速算法。分析M/T测速算法的实现机理,将机械振动条件下导致速度测量误差的主要原因归结为引起位置量化误差的假脉冲信号。分别采用数字滤波器和方向信号鉴别器对高频和低频假脉冲信号进行抑制,并给出改进后的M/T测速算法实现方案。仿真和实验结果表明:基于数字滤波器和方向信号鉴别器的假脉冲剔除法能够消除机械振动引起的位置量化误差。改进后的M/T测速算法对机械振动具有鲁棒性,且能够在电机整个运行速度范围内给出准确的速度测量值,从而提高了交流伺服系统的速度控制性能。

In order to solve the problem that M/T speed detection method used in alternating-current （AC） servo systems with an incremental quadrature-pulse encoder was susceptible to mechanical vibra-tion,an improved M/T speed detection method based on pseudo-pulse removing was proposed. By analy-zing the implementation mechanism of M/T speed detection method,the conclusion is that pseudo pulses which lead to position quantization errors are the main cause of speed measurement error under mechani-cal vibration condition. Digital filter and direction discriminator were used to suppress high-frequency and low-frequency pseudo pulses,and an implementation scheme of the improved M/T speed detection meth-od was presented. Simulation and experiment results show that pseudo-pulse removing method based on digital filter and direction discriminator is able to eliminate position quantization errors caused by mechan-ical vibration. The improved M/T speed detection method is robust to mechanical vibration,and provides accurate speed measurement value within the whole operating range of motor speed,so that the speed control performance of AC servo system is improved.