摘要
交流伺服系统中,联轴器、减速箱等弹性连接装置的存在,将导致高转速运转的伺服电机定位时负载末端存在残余抖动,必然会影响定位精度,严重时会对机床和加工设备造成损伤,因此必须对定位时的抖动进行抑制。针对这一问题,该文首先将伺服定位系统建模为电机-负载双惯量模型,然后从频域角度分析抖动成因,并提出基于输入整形技术的定位末端抖动抑制算法,将输入指令和一系列脉冲序列进行卷积,得到新的输入指令发送给系统。最后,通过仿真和实验,对比零振动(ZV)、导数零振动(ZVD)和极不灵敏(EI)三种输入整形器算法在不同负载惯量情况下的抑制效果、时间滞后和鲁棒性。
In the AC servo system,the existence of elastic connecting devices such as couplings and gearboxes will result in residual vibration at the end of the load when the servo motor is operated at high speed,which will inevitably affect the positioning accuracy.In severe cases,it will cause machine tools and processing equipment damage,so the vibration during positioning must be suppressed.Aiming at this problem,this paper firstly models the servo positioning system as the motor-load double inertia model,then analyzes the cause of the vibration from the frequency domain angle,and proposes the positioning end vibration suppression algorithm based on input shaping technology,which will input the command and a series of pulses.The sequence is convolved and a new input command is sent to the system.Finally,through simulation and experiment,the three input shaping algorithms of ZV method,zero vibration and derivative input shaper(ZVD)and EI method(extra insensitivity input shaper,EI)are compared in terms of suppression effect,time lag and robustness in different case of load inertia.
作者
杨明
曹佳
徐殿国
Yang Ming;Cao Jia;Xu Dianguo(School of Electrial Engineering and Automation Harbin Institude of Technology Harbin 150001 China)
出处
《电工技术学报》
EI
CSCD
北大核心
2018年第21期4979-4986,共8页
Transactions of China Electrotechnical Society
基金
国家重点研发计划(2017YFB1300801)
湖南省战略性新兴产业重大科技成果转化项目(2016GK4049)资助
关键词
输入整形
前馈控制
定位末端抖动抑制
交流伺服系统
Input shaping
feedforward control
vibration suppression on the end of load
AC servo system
