基于扰动转矩反馈的机械谐振抑制方法

Suppression of Mechanical Resonance Based on Disturbance Torque Feedback

伺服驱动被用在很多工业应用中,伺服系统中电机和负载之间的柔性连接环节会恶化伺服系统的性能,甚至会引起系统不稳定。分析了伺服系统产生机械谐振的原理,并提出了一种基于扰动转矩反馈的谐振抑制方法。该方法利用Luenberger观测器来观测扰动转矩,并将扰动转矩通过一个比例积分环节反馈回电流给定。此外,还给出了一种反馈系数K的整定方法,并在理论上分析了该参数整定方法的合理性。最后,基于Matlab/Simulink平台搭建了伺服谐振系统的仿真模型,并对提出的方法进行了仿真验证。

Servo drives are used in a wide range of industrial applications,the flexible connection between motor and load may degrade the performance of the servo systems,and even cause instability. The reason of the mechanical resonance was analyzed and a method based on disturbance torque feedback was proposed to suppress mechanical resonance. The presented method utilizes the Luenberger observer to obtain the disturbance torque and the output of the observer was used as a feedback to the current loop after passing it through a proportional integrator. Moreover,a technique to calculate the feedback factor K was also presented and the validity of this method was verified by theory analysis. Finally,a servo resonance system simulation model based on Matlab/Simulink was established and the effectiveness of the proposed method is verified by the simulation results.