基于负载位置反馈的永磁同步电机驱动柔性负载谐振抑制方法

Resonance Suppression Method Based on Load Position Feedback for Flexible Load Driven by PMSM

柔性负载广泛存在于电气传动系统中。根据柔性的成因,伺服系统中柔性负载主要分为柔性关节和柔性连杆两类系统。针对这两类典型的柔性负载系统,首先引用已有的研究成果对其建立了一致的动力学模型。然后将PI调节器应用于系统控制中,由于自由度有限,谐振抑制效果并不理想。因而,控制系统中需要引入状态反馈。针对谐振抑制的需要,通过增加一个额外的位置传感器对末段位置进行测量,然后将其反馈至控制系统中。针对负载位置反馈策略,分析了其系统性能与参数关系,并采用三种策略对其进行了极点配置。仿真和实验验证了所提出的基于负载位置反馈及其参数整定方法的有效性。

The flexible load is widely presents in the electrical drive system. According to the origin, the flexible load can be classified as the system of rigid load driven by a servo motor via a flexible coupling and flexible load driven directly by a servo motor. As for the typical system above,firstly they are modeled according to Lagrange Principle and an equivalent model is acquired. Then PI controller is used for the system control. Since there are only two degrees for PI controller, the performance is unsatisfactory. As a result, the state feedback has to be introduced. On this occasion, the load position is measured and feedback to the control system. Then the strategy is analyzed and the parameters are tuned with pole placement method. The simulation and experimental results verified the effectiveness of the load position feedback strategy and its＇ parameter timing method for the system of flexible load driven by PMSM.