Mechanical resonance suppression method and system for alternating current servo system
阅读说明：本技术 交流伺服系统机械谐振抑制方法以及系统 (Mechanical resonance suppression method and system for alternating current servo system ) 是由 卢少武 吴波 刘婕 周凤星 马娅婕 但峰 严保康 胡轶 宁博文 于 2019-10-12 设计创作，主要内容包括：本发明涉及交流伺服控制系统技术领域,提供了一种交流伺服系统机械谐振抑制方法,包括如下步骤：S1,建立双惯量传动装置模型；S2,为所述双惯量传动装置模型增加ADRC控制器结构；S3,在增加了所述ADRC控制器结构的模型的基础上再加入负载加速度反馈补偿。还提供了一种交流伺服系统机械谐振抑制系统,包括双惯量传动装置模型、增加在所述双惯量传动装置模型上的ADRC控制器结构以及在所述ADRC控制器结构增加后再加入的负载加速度反馈结构。本发明与传统PI控制器相比,改进的ADRC能对谐振现象产生一定的抑制效果,同时能实系统高速响应、高稳态精度；ADRC控制器结构的状态观测器能够同时观测出系统的状态变量和扰动,通过添加补偿可以消除这些扰动。(The invention relates to the technical field of an alternating current servo control system, and provides a mechanical resonance suppression method of an alternating current servo system, which comprises the following steps: s1, establishing a double-inertia transmission device model; s2, adding an ADRC controller structure for the double-inertia transmission device model; and S3, adding load acceleration feedback compensation on the basis of adding the model of the ADRC controller structure. The mechanical resonance suppression system of the alternating current servo system comprises a double-inertia transmission device model, an ADRC controller structure added on the double-inertia transmission device model, and a load acceleration feedback structure added after the ADRC controller structure is added. Compared with the traditional PI controller, the improved ADRC can generate a certain inhibition effect on the resonance phenomenon, and meanwhile, the high-speed response and high steady-state precision of the system can be realized; the state observer of the ADRC controller architecture is able to observe both the state variables and the disturbances of the system, which can be eliminated by adding compensation.)
1. A mechanical resonance suppression method of an alternating current servo system is characterized by comprising the following steps:
s1, establishing a double-inertia transmission device model;
s2, adding an ADRC controller structure for the double-inertia transmission device model;
and S3, adding load acceleration feedback compensation on the basis of adding the model of the ADRC controller structure.
2. The method of claim 1, wherein the method further comprises: the double-inertia transmission device model comprises a motor, a transmission device and a load,
the mechanical equation of the motor is as follows: wherein, J MIs the inertia of the motor, omega MIs the motor speed, T eFor electromagnetic torque, T LAs a load torque, B MIs a damping coefficient
The model is simplified by the following relation:
the motor side transfer function is collated as:
the transfer function of the load rotating speed and the output electromagnetic torque of the servo motor is as follows:
the transfer function relationship between the rotating speeds is as follows:
the servo system resonance equation is:
3. An ac servo system mechanical resonance suppression method as claimed in claim 1, wherein said ADRC controller structure formation comprises a tracking differentiator design, a state observer design and a nonlinear error feedback rate design.
4. An AC servo mechanical resonance suppression method as claimed in claim 3, wherein said tracking differentiator is designed in particular,
the trace differential stage of the velocity command is processed, and the fastest discrete trace differentiator can be expressed as:
The fst () function is the fastest control synthesis function, described as follows:
wherein d ═ δ h; d 0＝hd；y＝x 1+hx 2；
Input signal is omega r(k) R can be realized by adopting a differentiator 1(k)→ω r(k)，
Finally, the following is obtained:
5. an AC servo mechanical resonance suppression method as claimed in claim 3, wherein said state observer is designed in particular,
the state observer is an extended state observer and is used for observing the rotating speed value z of the motor 1Known disturbance (load torque T) L) And the unknown disturbance is uniformly regarded as the total disturbance, and the total disturbance is regarded as the expansion state z 2：
For an established current inner loop, perturb the compensation factor
s 2+β 1s+β 2＝(s+ω 0) 2，
solved β 1＝2ω 0，β 2＝ω 0 2Wherein, ω is 0Is the bandwidth of a state observer, having
6. The AC servo system mechanical resonance suppression method of claim 3, wherein the nonlinear error feedback rate is designed,
the method adopts direct error to replace nonlinear function, directly calculates the error of two state variables, utilizes the gain of the observer to adjust the observation speed of the observer, and the state feedback control law in the forward channel is as follows:
wherein K is a proportional control coefficient, and is generally taken
7. The method for suppressing mechanical resonance of an alternating current servo system as claimed in claim 1, wherein after adding load acceleration feedback compensation, the transfer function of the load rotation speed and the output electromagnetic torque of the servo motor is as follows:
the resonance frequency at this time is:
8. An alternating current servo mechanical resonance suppression system is characterized in that: the system comprises a double-inertia transmission device model, an ADRC controller structure added on the double-inertia transmission device model, and a load acceleration feedback structure added after the ADRC controller structure is added.
9. The ac servo mechanical resonance suppression system of claim 8, wherein: the double-inertia transmission device model comprises a motor, a transmission device and a load, wherein the transmission device transmits the motion and the power of the motor to the load, so that the motion of the load is controlled to meet the requirements of a system.
Technical Field
The invention relates to the technical field of alternating current servo control systems, in particular to a method and a system for inhibiting mechanical resonance of an alternating current servo system.
Background
An alternating current servo system targeting high speed and high precision is widely applied in high-tech fields such as laser processing, robots, high-precision machine tools and the like. The accurate control of the speed ring can reduce the influence of disturbance on the system and reduce the fluctuation of the rotating speed, so that the system works in a stable state. The speed loop control is the most widely applied control mode in the permanent magnet synchronous motor servo system, and the good speed loop control can effectively inhibit uncertain disturbance in a current loop and a speed loop, so that the overall performance of the system is improved.
Suppression of mechanical resonance can be considered from both mechanical and control aspects. From the mechanical aspect, the damping of the system is improved, the load inertia ratio of the system is reduced, the rigidity of a transmission device of the system is improved, and the resonant frequency of the system can be improved and is beyond the normal working bandwidth of the system.
However, the viscosity coefficient between the motor and the transmission, and the viscosity coefficient between the transmission and the load are difficult to increase; the load inertia ratio is determined by a specific control object and cannot be changed randomly; the stiffness of the transmission can be improved by mechanical design, but to a limited extent.
Disclosure of Invention
The invention aims to provide a method and a system for inhibiting mechanical resonance of an alternating current servo system, which can automatically detect the real-time action of a model and external disturbance of the system and compensate the action, can inhibit the resonance to a certain extent, and can better inhibit the resonance after the feedback of load acceleration.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions: a mechanical resonance suppression method for an alternating current servo system comprises the following steps:
s1, establishing a double-inertia transmission device model;
s2, adding an ADRC controller structure for the double-inertia transmission device model;
and S3, adding load acceleration feedback compensation on the basis of adding the model of the ADRC controller structure.
Further, the double inertia transmission model comprises a motor, a transmission and a load,
the mechanical equation of the motor is as follows:
The model is simplified by the following relation:
the motor side transfer function is collated as:
the transfer function of the load rotating speed and the output electromagnetic torque of the servo motor is as follows:
the transfer function relationship between the rotating speeds is as follows:
the servo system resonance equation is:
Further, the formation of the ADRC controller structure includes the design of a tracking differentiator, the design of a state observer, and the design of a nonlinear error feedback rate.
Further, the design of the tracking differentiator is specifically,
the trace differential stage of the velocity command is processed, and the fastest discrete trace differentiator can be expressed as:
The fst () function is the fastest control synthesis function, described as follows:
wherein d ═ δ h; d 0＝hd；y＝x 1+hx 2；
Input signal is omega r(k) R can be realized by adopting a differentiator 1(k)→ω r(k)， The differentiator may simultaneously implement the filtering.
Finally, the following is obtained:
further, the state observer is designed specifically such that,
the state observer is an extended state observer and is used for observing the rotating speed value z of the motor 1Known disturbance (load torque T) L) And the unknown disturbance is uniformly regarded as the total disturbance, and the total disturbance is regarded as the expansion state z 2：
For an established current inner loop, perturb the compensation factor
s 2+β 1s+β 2＝(s+ω 0) 2，
solved β 1＝2ω 0，β 2＝ω 0 2Wherein, ω is 0Is the bandwidth of a state observer, having
Further, the design of the nonlinear error feedback rate,
the method adopts direct error to replace nonlinear function, directly calculates the error of two state variables, utilizes the gain of the observer to adjust the observation speed of the observer, and the state feedback control law in the forward channel is as follows:
Further, after load acceleration feedback compensation is added, the transfer function of the load rotating speed and the output electromagnetic torque of the servo motor is as follows:
the resonance frequency at this time is:
The embodiment of the invention provides another technical scheme: the mechanical resonance suppression system of the alternating current servo system comprises a double-inertia transmission device model, an ADRC controller structure added on the double-inertia transmission device model, and a load acceleration feedback structure added after the ADRC controller structure is added.
Further, the double-inertia transmission device model comprises a motor, a transmission device and a load, wherein the transmission device transmits the motion and the power of the motor to the load, so that the motion of the load is controlled to meet the requirements of a system.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with the traditional PI controller, the improved ADRC can generate a certain inhibition effect on the resonance phenomenon, and meanwhile, the high-speed response and high steady-state precision of the system can be realized.
2. The state observer with the ADRC controller structure can observe state variables and disturbances of the system at the same time, the disturbances can be eliminated by adding compensation, the influence of parameter change and load disturbance on the system is remarkably reduced, and the characteristic of strong load disturbance resistance is highlighted.
3. The method can realize the resonance suppression of the servo system without depending on an accurate system model, and has the advantages of independent controller parameters and simple configuration.
4. The present invention may be implemented by varying the load acceleration feedback factor α 1The mechanical resonance can be further suppressed by adjusting the equivalent resonance frequency of the system.
Drawings
Fig. 1 is a model block diagram of a dual inertia transmission device of an ac servo system mechanical resonance suppression method according to an embodiment of the present invention;
FIG. 2 is a structural diagram of a feedback compensation resonance suppression structure of a loading acceleration of a conventional PI controller;
fig. 3 is a structural diagram of an ADRC controller of an ac servo system mechanical resonance suppression method according to an embodiment of the present invention;
fig. 4 is a structural diagram of an ADRC load acceleration feedback compensation resonance suppression method for an ac servo system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
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