高速高精运动平台谐振分析与抑制研究

Analysis and suppression of resonance of motion control platform with high frequency and fast response

针对直线电机直接驱动的高速高精运动平台的谐振问题,对高速高精运动平台的控制系统模型、伺服动刚度模型、移动部件质量、在线辨识算法和积分谐振控制(IRC)谐振抑制方法等内容进行了研究,提出了一种基于递推最小二乘辨识算法在线辨识谐振模型以及IRC抑制谐振的控制方案,构建了高速高精运动平台伺服控制系统模型和伺服动刚度模型,在仿真模型的基础上研究了移动部件质量的变化对系统伺服动刚度的影响,考虑控制系统伺服动刚度对谐振的影响,利用在线辨识算法获取到的谐振模型参数设计了IRC抑制系统谐振。研究结果表明,该控制方案对系统伺服动刚度不足造成的谐振现象具有较好的抑制效果,能大大提高系统动态性能。

Aiming at the problem of resonance of the platform of the motion control with high frequency and fast response driven by linear motor,research on the servo control system model,the model of the servo dynamic stiffness,quality of moving parts,online identification algorithm and resonance suppression method of integral resonant control（ IRC）,a control scheme based on online identification model of recursive least squares identification algorithm and resonance suppression of IRC was proposed. The servo control system model and the model of the servo dynamic stiffness were constructed,based on the simulation,the platform of the motion control with high frequency and fast response driven by linear motor was studied considering the influence of quality change of moving parts on the servo dynamic stiffness and the influence of the servo dynamic stiffness of the control system on the resonance,IRC was designed to suppress resonance on the base of utilizing parameters of resonance model from online identification. The results indicate that the control scheme has a good effect on suppressing resonance which is caused by insufficient of the servo dynamic stiffness,and can greatly improve the dynamic performance of system.