一种考虑跟随误差的S形轨迹残余振动抑制可靠性分析方法

Reliability Analysis of Residual Vibration Suppression in Flexible Servo Systems under S-curve Trajectory with Bounded Uncertainty

S形抑振轨迹规划方法因其高效便捷广泛用于柔性伺服系统残余振动抑制,实际抑振效果会受到伺服跟随误差的影响。基于区间过程模型,提出一种考虑跟随误差的伺服系统残余振动抑制可靠性分析方法。首先建立电机动子位移跟随误差的不确定程度到柔性末端振动响应区间的映射模型,为度量残余振动抑制的可靠性,分别提出残余振动能量抑制及振动抑制鲁棒性的可靠度评估模型。最后结合工程算例验证该方法的有效性,并量化位移跟随误差平稳区间过程特征参数(半径函数与自相关函数)对可靠度指标的影响程度。该可靠性分析方法为考虑跟随误差的柔性伺服系统残余振动抑制效果评估提供理论支撑。

S-shape vibration suppression trajectory planning method is widely used in residual vibration suppression of flexible servo system because of its high efficiency and convenience.However,the actual vibration suppression effect is affected by following error generated by servo systems.Based on interval process model,a reliability analysis method for residual vibration suppression of flexible servo system considering following error is proposed.Firstly,a mapping model between the uncertainty of the displacement following error and the vibration response interval of the flexible end is established.In order to measure the reliability of residual vibration suppression,reliability evaluation models for residual vibration energy suppression and robustness of residual vibration suppression are proposed respectively.The effectiveness of the proposed method is verified by an engineering example,and the influence degree of the characteristic parameters(radius function and auto-correlation function)on the reliability index is quantified.The reliability analysis method provides theoretical support for the evaluation of residual vibration suppression effect of flexible servo system considering following error.