伺服驱动系统高增益速度环的振动抑制方法

Vibration Suppression Method for High Gain Velocity Loop of Servo Drive System

为解决速度控制器增益过大和负载扰动等因素引起伺服系统振动,导致系统不稳定的问题,提出伺服驱动系统高增益速度环的振动抑制方法.首先,采用速度振动信号反馈补偿的方法,设计滤波器提取振动速度信号作为速度反馈补偿;然后,采用内模控制(IMC)观测器进行负载扰动补偿,将观测出的扰动转换成对应的电流量,对电流环指令信号进行前馈补偿.仿真结果表明:与比例积分(PI)控制和传统的观测器补偿法相比,文中方法能有效地提高系统的响应和抗扰动性.

In order to solve the problem of excessive speed controller gain and load disturbance that will cause the servo system vibration and instability,a vibration suppression method for the high gain speed loop of the servo drive system was proposed.First,a velocity vibration signal feedback compensation method was adopted to design a filter to extract the vibration velocity signal as velocity feedback compensation.Then,the internal model control(IMC)observer was used to compensate the load disturbance.The observed disturbance was converted into corresponding current flow.The current loop instruction signal was compensated feedforward.The simulation results show that the proposed method can effectively improve the response and anti disturbance of the system comparing with proportional integral(PI)control and traditional observer compensation method.