伺服系统机械谐振的在线检测及其抑制

Online Detection and Suppression of Mechanical Resonance of Servo System

伺服系统中的传动环节一般具有一定的弹性,会导致伺服系统产生机械谐振,需要准确检测谐振并将其抑制。在保证伺服系统性能的前提下,引入陷波滤波器抑制机械谐振。设计了一套基于振动信号频谱的陷波器参数整定策略,可以自动设定陷波器陷波频率、宽度、深度参数;设计了基于SDFT(滑动傅里叶变换)的频谱提取算法,可以快速准确获取当前系统的谐振频率,在不依赖于伺服系统机械参数的条件下自动整定陷波器参数,抑制机械谐振。实验证实谐振检测方法的准确性和陷波器参数整定的有效性,该方案可以准确地检测伺服系统谐振并完成谐振的自适应抑制。

The transmission link in the servo system generally has certain elasticity,which will lead to the mechanical resonance of the servo system and worsen the performance of the servo system.To solve this problem,a notch filter is introduced to suppress the mechanical resonance on the premise of ensuring the performance of the servo system.A set of parameter setting strategy based on vibration signal spectrum is designed,which can automatically set the frequency,width and depth parameters of the notch filter.A spectrum extraction algorithm based on SDFT(sliding discrete fourier transform)is designed,which can quickly and accurately obtain the resonant frequency of the current system,and automatically adjust the notch parameters without relying on the mechanical parameters of the servo system to suppress the mechanical resonance.Experimental results show that this scheme can effectively detect the resonance of the servo system and achieve adaptive suppression of the resonance.