直线伺服推力纹波扰动补偿及自适应振动抑制

Research on force ripple compensation and adaptive resonance suppression of linear servo system

针对高速运动的直线伺服系统同时存在的扰动与共振问题,建立两个回路分别进行扰动补偿与共振抑制。通过实验方法建立包含推力纹波扰动的直线伺服系统模型结构,采用最小二乘法进行模型参数的迭代辨识,并通过前馈进行扰动补偿;针对直线伺服系统模型结构中存在的共振现象,通过辨识主导振动频率,采用自适应FIR陷波滤波器抑制主导共振频率所带来的影响。在直线伺服运动控制平台上进行的算法验证实验表明:所建立的两个回路能有效补偿推力纹波扰动与抑制共振,提高直线伺服系统的在高速运行过程中的位置跟踪精确度的作用,满足高速、高精确度轨迹控制要求。

According to the coexistence of the disturbance and resonance when linear servo system was running at high speed, two control loops were established to compensate the disturbance and suppress the vibration respectively. Linear servo model with force ripple was established by experiments. Then model parameters identification was processed by Least squares method and force ripple was compensated by feedforward. According to the resonance existed in the mechanical structure of linear servo system, one a- daptive FIR notch filter was introduced to suppress the phenomenon of resonance by identification of main resonance mode of linear servo system. The experiments were carried out at the high speed linear servo platform and the results show that the proposed two control loops were effective to deal with disturbance of force ripple and resonance, and could improve position tracking performance and meet the requirements of high speed and high precision of linear servo.