数字伺服系统机械谐振频率偏移现象机制分析及实验研究  

Analysis and Experiment Research on Mechanical Resonance Frequency Deviation in Digital Servo System

作　　者：张军 陈扬洋 张杰 杨明[2] ZHANG Jun;CHEN Yangyang;ZHANG Jie;YANG Ming(Guangzhou CNC Equipment Company,Guangzhou Guangdong 510000,China;School of Electrical Engineering and Automation,Harbin Institute of Technology,Harbin Heilongjiang 150001,China)

机构地区：[1]广州数控设备有限公司,广东广州510000 [2]哈尔滨工业大学电气工程及自动化学院,黑龙江哈尔滨150001

出　　处：《机床与液压》2022年第14期40-45,共6页Machine Tool & Hydraulics

基　　金：科技部重点研发计划工业机器人伺服电机与驱动产品性能优化(2017YFB1300800)。

摘　　要：高刚度的伺服系统在柔性传动机构中极易引起机械谐振。为提高系统的鲁棒性,通常采用自适应陷波滤波器,但会产生机械谐振频率偏移现象,无法快速实现振动抑制。基于此现象,从系统阻尼、离散化周期以及陷波器串入3个角度对机械谐振频率的影响进行了定量分析,深入剖析机械谐振频率偏移现象的机制,揭示了谐振频率变化的本质原因。通过理论分析,得出在谐振出现偏移现象时最有效最快速的陷波频率仍是系统自然谐振频率(NTF)的结论。最后,通过MATLAB/Simulink和实验验证了理论分析的正确性与有效性。The mechanical resonance can be easily induced in the flexible transmission mechanisms in which high-stiffness servo systems are used.In order to improve the robustness of the system,the adaptive notch filter is often used,however,it will lead to mechanical resonance frequency deviation,therefore resonance suppression cannot be effectively realized.Based on this phenomenon,the influence to the mechanical frequency was quantitatively analyzed from the perspectives of system damping,discretization period and notch filter.The mechanism of mechanical resonance frequency deviation was analyzed in detail,and the core reason for resonance frequency deviation was revealed.It is concluded that the most effective notch frequency is still the natural resonant frequency(NTF)during resonance frequency deviation.Finally,simulation on MATLAB/Simulink and experiment verify the correctness and effectiveness of the conclusion and analysis.

关 键 词：伺服系统 谐振抑制 离散控制 陷波滤波器 

分 类 号：TN820.3[电子电信—信息与通信工程]