基于锁相环型扩张状态观测器的双惯量弹性伺服系统机械谐振抑制方法  

A Mechanical Resonance Suppression Strategy for Two-Inertia Elastic Servo Systems Based on a Phase Locked Loop-Type Extended State Observe

作　　者：吴春 王超 郑露华 南余荣[1] Wu Chun;Wang Chao;Zheng Luhua;Nan Yurong(College of Information Engineering Zhejiang University of Technology,Hangzhou 310023 China)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《电工技术学报》2024年第18期5680-5691,共12页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(52007169);浙江省自然科学基金(LY23E070004)资助项目。

摘　　要：针对双惯量弹性伺服系统存在的机械谐振问题,提出一种基于锁相环型扩张状态观测器(PLL-ESO)的机械谐振抑制策略。与常规ESO相比,PLL-ESO方法在相同的极点配置情况下具有更高带宽和更大相位裕度,有助于提高机械谐振的抑制动态特性和稳定性。实验结果表明,所提PLL-ESO方法可以有效地抑制机械谐振,且相比陷波滤波器和常规ESO方法具有更快的谐振抑制速度和更高的抑制精度。同时,实验还对观测器无阻尼固有频率和系统参数鲁棒性进行了分析,验证了PLL-ESO在宽无阻尼固有频率范围内都能抑制机械谐振,且输入参数摄动会影响谐振抑制的快速性和稳态精度。In a two-inertia servo system,mechanical resonance is generated due to an elastic part in the connection device between a motor and a load.Consequently,suppressing mechanical resonance has become a focus for achieving high-performance servo control.One effective strategy is notch filters,which can attenuate the magnitude of the resonance frequency.Nevertheless,the design of the notch filter requires accurate knowledge of the mechanical resonance frequency,which is a complex task.As a result,the use of the notch filter is limited due to the difficulties in obtaining an accurate mechanical resonance frequency.The observer-based method for suppressing mechanical resonance does not require identifying the mechanical resonance frequency.Present studies adopt the observer method for mechanical resonance suppression,where the observer estimates and compensates in real time.According to the extended state observer(ESO),a new approach named the phase-locked loop type ESO(PLL-ESO)is proposed.The state equations of the PLL-ESO are designed based on the system’s kinetic equations,and the stability of the PLL-ESO is verified based on the pole location of state equations.A comparative analysis assesses the resonance suppression performance of the ESO and the PLL-ESO.The theoretical analysis indicates that the PLL-ESO method exhibits a larger phase margin of stabilization and faster dynamic performance than the ESO method.The experiment aims to evaluate the effectiveness of PLL-ESO in suppressing mechanical resonance compared with notch filters and the ESO.The resonance frequency is identified by applying a sinusoidal sweep signal to the q-axis current reference.A fast Fourier transform(FFT)analysis of the q-axis current response and the real speed are performed on the sampled data to obtain the frequency characteristics of the two-inertia system.It confirms that an elastic connection causes mechanical resonance.A design procedure is established for implementing a resonance suppression strategy.Experiments are conducted under

关 键 词：双惯量弹性伺服系统 机械谐振 锁相环型扩张状态观测器(PLL-ESO) 谐振频率 

分 类 号：TM921.2[电气工程—电力电子与电力传动]