基于加速度反馈的柔性系统机械谐振抑制研究

Research of Mechanic Resonance Suppression for Flexible System Based on Acceleration Feedback

针对柔性伺服系统中因惯量不匹配引起的中低频机械谐振问题,采用加速度补偿方法对比研究不同端口加速度反馈的惯量匹配范围。加速度反馈等效于改变电机和/或负载机械惯量,针对惯量比的不同范围采用不同端口加速度反馈方式,实现电机与负载惯量的合理匹配,达到抑制机械谐振的目的。综合IP转速调节器设计,通过配置系统极点,使得闭环系统具有期望的动态性能。仿真结果验证了分析方法的有效性。

In order to suppress the low- or middle-frequency mechanical resonance existed generally in flexible servn derive system, comparative studies were carried out on acceleration feedback of different mechanical port to resonance suppression. The suppression of mechanical resonance was affected seriously by the ratio of load inertia to motor inertia, the acceleration feedback was equivalent to change the inertia of drive parts. The reasonable matching of motor and load inertia was achieved by adopting different port acceleration feedback to the different inertia ratio, and realized the purposed of mechanic resonance suppression. Furthermore, the speed regulator of IP was synthesized, and the expected dynamic performance of closed-loop system was achieved by the poles assignment. The simulation results showed the effectiveness of the proposed methods.