基于位置闭环的制振陷波器改进和参数整定

Improvement and Parameter Tuning of Vibration Suppression Filter Based on Position Closed Loop

伺服系统中因传动装置刚度不足会引发定位振动问题。针对采用陷波滤波器解决该问题时存在陷波滤波器参数整定过程繁琐且整定抑制效果不明显,基于零极点抵消法提出一种改进的前馈陷波滤波器。该方法采用振幅最高点所对应的频率和对数衰减法快速整定陷波器的中心频率、陷波宽度和陷波深度。实验结果显示:使用该滤波器比未使用滤波器相比可降低88.4%的定位振动,证明将改进滤波器作为前馈陷波滤波器可实现定位振动抑制以及滤波参数整定方法的有效性。

In the servo system,the lack of transmission rigidity will cause positioning vibration problems.When the notch filter is used to solve this problem,the notch filter parameters setting process is cumbersome and the setting suppression effect is not obvious.For this reason,an improved feedforward notch filter based on zero-pole cancellation method was proposed.In this method,the frequency corresponding to the highest point of amplitude and the logarithmic attenuation method were used to quickly adjust the center frequency,notch width and notch depth of the notch.The experimental results show that using the filter,the positioning vibration can be reduced by 88.4%compared with the unused filter,which proves that using the improved filter as a feedforward notch filter can achieve positioning vibration suppression and the effectiveness of the filter parameter tuning method.