基于扩展卡尔曼的伺服主动谐振抑制研究  

Research on Active Resonance Suppression for Servo System Based on Extended Kalman

作　　者：黄钙 王孝四 潘鑫 陈玥 卢少武[1] HUANG Gai;WANG Xiaosi;PAN Xin;CHEN Yue;LU Shaowu(School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan Hubei 430081,China;Shandong Yiran Environmental Protection Technology Co.,Ltd.,Jinan Shandong 250200,China;China Mobile Communications Group Hubei Co.,Ltd.,Wuhan Hubei 430023,China)

机构地区：[1]武汉科技大学信息科学与工程学院,湖北武汉430081 [2]山东一然环保科技有限公司,山东济南250200 [3]中国移动通信集团湖北有限公司,湖北武汉430023

出　　处：《机床与液压》2024年第22期116-121,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51975430)。

摘　　要：针对伺服系统在高精高速控制中发生的机械谐振现象,提出一种新型主动谐振抑制方案。建立双惯量的动力学方程,采用IP控制结合状态反馈的方式来提高极点的自由度,通过调整阻尼系数来配置极点位置,从而抑制机械谐振;同时为了改善阻尼系数对系统响应时间的影响,加入自适应前馈项来降低系统阶次,提高系统动态响应。设计一种扩展卡尔曼观测器对轴矩和负载惯量进行在线辨识,进而自适应调整反馈系数和前馈系数。最后,在理论分析的基础上进行了仿真验证。结果表明:所提主动抑制方案具有很好的谐振抑制效果和动态响应,验证了该方案的有效性。Aiming at the phenomenon of mechanical resonance in high precision and high speed control of servo system,a new active resonance suppression scheme was proposed.The dynamic equation of double inertia was established,IP control combined with state feedback was used to improve the free degree of the poles,and the pole position was configured by adjusting the damping coefficient to suppress the mechanical resonance.At the same time,in order to improve the influence of the damping coefficient on the system response time,the adaptive feedforward terms were added to reduce the system order and improve the system dynamic response.Then,an extended Kalman observer was designed to identify the shaft moment and load inertia online,and then the feedback coefficient and feedforward coefficient were adaptively adjusted.Finally,on the basis of theoretical analysis,the simulation was carried out.The results show that the proposed active suppression scheme has good resonance suppression effect and dynamic response,which verifies the effectiveness of the scheme.

关 键 词：伺服系统 谐振抑制 主动抑制 扩展卡尔曼 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]