基于陷波滤波器的伺服系统机械谐振抑制

Mechanical resonance suppression of servo system based on notch filter

针对伺服系统机械谐振抑制问题,采用在伺服系统中级联一个陷波滤波器的方法对二质量系统的机械谐振进行抑制。首先,建立二质量系统的数学模型,并对机械谐振机理进行分析,阐述机械谐振产生的原因;然后,分析陷波滤波器的原理及其参数的选择对二质量系统的影响,根据分析结果设计陷波滤波器,确定陷波滤波器的宽度参数和深度参数,从而达到既能抑制机械谐振又能保持系统稳定性的目的。与传统的陷波滤波器手动调节参数的方法相比,文中采用的算法可直接确定陷波滤波器的参数,可以准确、快速地抑制谐振;最后,仿真结果说明该方法不仅能有效抑制谐振,保持系统的稳定性,而且能够避免手动调节参数耗时多的缺陷,具有快速准确的特点。

Aiming at the problem of mechanical resonance suppression in servo system,a notch filter is used to suppress the mechanical resonance of two-mass system.Firstly,the mathematical model of two-mass system is established;the mechanism of mechanical resonance is analyzed;and the causes of mechanical resonance are expounded.Then,the principle of notch filter and the selection of its parameters are analyzed.According to the analysis results,the notch filter is designed and the width and depth parameters of the notch filter are determined,so that the mechanical resonance can be suppressed and the stability of the system can be maintained.Finally,the simulation results show that the method can not only effectively suppress the resonance and maintain the stability of the system,avoid the defect of manual adjustment of parameters,which is time-consuming,but also has the characteristics of fast and accurate.