摘要
为了有效解决伺服系统中由于机械刚度低产生的机械共振,利用Matlab对伺服驱动模型进行仿真,借助FDAtool设计了2阶直接II型陷波器,消除了伺服和负载组成的双惯性系统之间的共振频率。发现并分析了通带衰减参数对共振抑制的影响,在DSP上实现了双惯性系统的机械共振抑制控制程序,提出了陷波器在实时系统上的实现算法,并用永磁同步电机与丝杠进行实验验证,实验结果表明共振得到了抑制。
In order to slove the resonance of Servo system cause by low mechanic stiffness effectively, a servo driving model is established with Matlab, a notch filter is also designed with the assist of FDAtool to eliminate the resonance frequency, and the effect to 2-inertial system of pass band coefficient is discovered and analyzed. A control program of suppressing the vibration between 2-mass system based on notch filter is implemented in DSP （digital signal processor）, and an algorithm for realizing a notch filter in real-time system is proposed; its also experimented using PMSM and ball screw, the result shows that the vibration is successfully suppressed.
出处
《计算机工程与设计》
CSCD
北大核心
2013年第5期1624-1629,共6页
Computer Engineering and Design
基金
国家科技重大专项-开放式数控系统支撑技术创新平台建设基金项目(2011ZX04016-071)
国家973重点基础研究发展计划基金项目(2011CB302400)
