| 引用本文: | 杨明,郝亮,徐殿国.基于自适应陷波滤波器的在线机械谐振抑制[J].哈尔滨工业大学学报,2014,46(4):63.DOI:10.11918/j.issn.0367-6234.2014.04.011 |
| YANG Ming,HAO Liang,XU Dianguo.Online suppression of mechanical resonance based on adapting notch filter[J].Journal of Harbin Institute of Technology,2014,46(4):63.DOI:10.11918/j.issn.0367-6234.2014.04.011 |
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| 摘要: |
| 针对不断拓展的伺服系统带宽将会超过系统固有机械谐振频率而引发机械谐振,克服原本被忽略的弹性部件的影响以提高伺服系统性能,采用自适应陷波滤波器进行在线机械谐振抑制. 首先对双惯量弹性负载模型进行理论分析,解释及验证了机械谐振机理及现象．通过FFT法实时分析电磁转矩电流,可以在线快速辨识机械谐振特性,并以此辨识结果在线自动整定陷波滤波器参数,快速有效地抑制机械谐振．实验结果表明,该方案能够在线自动抑制弹性负载引起的谐振问题．离散化的高刚度谐振系统将以自然谐振频率持续振荡,而在线自适应滤波器无需对控制器参数进行改变,即可满足系统高刚度控制的同时抑制谐振． |
| 关键词: 伺服系统 弹性负载 在线机械谐振抑制 陷波滤波器 FFT |
| DOI：10.11918/j.issn.0367-6234.2014.04.011 |
| 分类号:TM921 |
| 基金项目:国家自然科学基金资助项目(61273147)； 台达环境与教育基金会资助项目(DREK2012002). |
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| Online suppression of mechanical resonance based on adapting notch filter |
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YANG Ming, HAO Liang, XU Dianguo
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(School of Electrical Engineering and Automation, Harbin Institute of Technology, 150001 Harbin, China)
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| Abstract: |
| To improve the performance of servo system, online suppression of mechanical resonance based on adapting notch filter is adopted. The expansion of bandwidth in servo system will exceed the natural mechanical resonance frequency. The originally ignored influence of elastic components will be more obvious, and mechanical resonance is caused. Firstly, the theoretical analysis of 2-mass model with elasticity load is carried out. The results of simulation verify this resonance mechanism and phenomenon. By FFT method to real-time analyze the electromagnetic torque current, resonance characteristic can be identified online and quickly. Based on identification result of resonance characteristic, parameters of notch filter can be online-set automatically. It can suppress mechanical resonance quickly and effectively. Experiment results show this method can online-suppress the resonance caused by elastic load automatically. Resonance system with high stiffness sustained oscillates at natural torsional frequency when the system is discretized. This method which uses adapting filter to suppress mechanical resonance doesn’t need to change the parameters of controller while high stiffness of control is satisfied. |
| Key words: servo system torsional load online suppression of mechanical resonance notch filter FFT |
