基于运动控制的加减速阶段减振方法研究

Vibration Reduction Methods in Acceleration and Deceleration Based on Motion Control

运动控制系统起停时的振动抑制一直都是运动控制系统设计的难,点。设计了一个二阶运动控制系统,研究实际工程中引起系统起停时振动的原因,发现在实际工程中,运动控制系统并不是关于电机的单输入系统,还有摩擦或者系统连接等引起的系统振动。由拉格朗日-欧拉方程建立系统运动微分模型,设置约束条件抑制系统起停时的振动,通过约束条件来规划S型加速度各段的参数值。仿真验证表明,算法保证了运动控制系统在起停时的振动为零,从而使所设计的控制算法提高了工作效率。所设计的算法计算量少,方便应用于各种简单的控制器设备中。

The vibration suppression at the sart and stop of motion control system is always the difficulty in its design.A second-order motion control system is designed to study the causes of the vibration of the system during start and stop in the actual project.In practical engineering,the motion control system is not about the single input system of the motor,but also related to the virbration caused by friction or system connections.The Lagrang-Euler equation is used to establish the system motion differential model,and constraints are set to suppress the vibration of the system when it starts and stops.The parameters of each segment of the S-type acceleration are calculated through the constraints.Through simulation,the algorithm ensures the aero vibration when the motion control system starts and stops,which can improve the work efficiency.The designed algorithm is less calculated,and is easy to be used in all kinds of simple controller devices.