CN105929865A - Linear servo system mechanical resonance control method - Google Patents

Linear servo system mechanical resonance control method Download PDF

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Publication number
CN105929865A
CN105929865A CN201610442581.3A CN201610442581A CN105929865A CN 105929865 A CN105929865 A CN 105929865A CN 201610442581 A CN201610442581 A CN 201610442581A CN 105929865 A CN105929865 A CN 105929865A
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parameter
servo system
linear servo
signal
notch filter
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CN201610442581.3A
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Inventor
杨亮亮
时军
欧阳博
刘权庆
应思齐
胡建
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
    • G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/006—Controlling linear motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses a linear servo system mechanical resonance control method which belongs to the field of mechanical equipment control. According to a control method in the prior art, on-line automatic adjustment of control parameters of a notch filter cannot be realized; a mechanical resonance suppression effect is poor; and the system requirements of high speed and high precision linear servo cannot be met. The invention provides a secant-based iterative learning algorithm to optimize the control parameters of the notch filter to solve the problem of resonance suppression of a linear servo system. The control method provided by the invention is simple, practical and highly precise.

Description

A kind of linear servo system mechanical resonant control method
Technical field
The present invention relates to a kind of linear servo system mechanical resonant control method, belong to plant equipment control field.
Background technology
Owing to using the frame for movement directly driven, there is not intermediate transfer link in linear servo system, has relatively small load and be used to Amount and the advantage of high dynamic response and be widely used in high speed and super precision digital control system, semiconductor chip manufacture and precision instrument etc. Field.In order to give full play to linear servo system high speed and super precision performance, High Speed and High Precision Motion Controller is designed to linear servo system One of key technology of high speed and super precision performance can be given full play to.
Due to the high frequency sound characteristic of linear servo system, there is good acceleration, ideal trajectory accelerating sections in its motor process The abundant high-frequency signal that comprised and easily activate the high frequency knot that itself mechanical platform is intrinsic through the disturbing signal of feedback processing Structure resonance mode, thus affect its high-precision performance, accordingly, it would be desirable to high-frequency structure resonance is suppressed.Currently for servo system The control method of system resonance suppression is mostly the motion platform transmission function utilizing the method identification of system identification to contain resonance characteristic, Utilize identification to obtain transmitting the primary resonance point of function, determine the control parameter of notch filter in controller.The method cannot be done To the control parameter of on-line automatic adjustment notch filter, mechanical resonant inhibition is poor, it is impossible to meet linear servo high speed and super precision System requirements.For drawbacks described above present in currently available technology, it is necessary to research and develop in fact, solves prior art is deposited Defect.
Summary of the invention
For the defect of prior art, it is an object of the invention to provide a kind of can the control of on-line automatic adjustment notch filter Parameter, control accuracy is high, simple and practical, controls effective linear servo system mechanical resonant control method.
For achieving the above object, the technical scheme is that
A kind of linear servo system mechanical resonant control method, comprises the following steps:
Step one: connect linear servo system and motion control card, opens upper computer software, arranges and includes that notch filter is joined Number, at interior controller parameter, downloads parameters in the dsp chip on motion control card；Step 2: under controller parameter After load completes, enable servosystem, make motor closed loop；Step 3: at linear servo system signal input part input step signal r1T (), signal step point produces at 1s, it is stipulated that sampling period TsFor 0.0005s, gather output displacement signal y1T (), gathers Time is 5s, totally 10001 sampled points, input signal r1T () deducts output signal y1T () is error signal e1(t)；Step 4: The response regulation time of regulation linear servo system is 2s, the error signal e used during iteration optimization1T () is 2s after；Step Rapid five: utilize secant iterative learning that the three of notch filter parameter iteration study optimizations are accomplished to optimal value；Watch at straight line Dress system controller adds this notch filter, suppresses its resonance.Optimize notch filter based on secant iterative learning to control Parameter, method is simple, practical, precision is high.
Further, in step one, its transmission function of notch filter H (s) is
H ( s ) = as 2 + c s + 1 as 2 + b s + 1
Whereinω be the Frequency point of notch filter effect, k1 be notch bandwidth parameter and K2 is notch depth parameter；By the transmission function discretization of notch filter, and by the DSP of programming programming to motion control card In chip；Controller parameter ω, k1, k2 initial value is set and is respectively 200rad/s, 1,0.001, these three initial value is downloaded to In dsp chip in motion control card.
Further, update the Frequency point ω of notch filter effect, notch bandwidth parameter k1 and notch depth parameter k2, Three parameters become 220rad/s, 1.02,0.00105 respectively, and the step-length of three Parameters variation is respectively 20rad/s, 0.02,0.00005, And download in dsp chip；At signal input part input step signal r2(t), identical with input signal in step one, gather Output signal y2T (), by input signal r2T () deducts output signal y2T () obtains error signal e2(t)；Equally, cast out 0-2s's Error information；
Further, the value formula of calculating target function is as follows:
J = Σ k = 4000 10001 e 2 ( k )
The object function of the most front twice experiment is respectively J1And J2；
Further, described secant iterative learning, it is stipulated that notch filter ω, k1, k2 tri-parameter variation range, ω is 200 to 565rad/s, k1 are 1-3, and k2 is 0.001-0.003, utilize front twice Acquisition Error calculated object function, The iterative formula that can obtain notch filter parameter is as follows:
ω i + 1 = ω i + ( ω i - ω i - 1 ) s a t ( J i J i - 1 - J i )
k 1 i + 1 = k 1 i + ( k 1 i - k 1 i - 1 ) s a t ( J i J i - 1 - J i )
k 2 i + 1 = k 2 i + ( k 2 i - k 2 i - 1 ) s a t ( J i J i - 1 - J i )
WhereinIt is used for limiting Parameters variation step-length in iterative process, if ωk+1, k1i+1, k2i+1 Within the scope of limiting, then the optimal value after filter parameter is updated to iteration；If the parameter after Ji Suaning exceeds iteration limit scope Then iterative formula changes following form (parameter is independent of each other, and individually considers iteration ranges condition and selects iterative formula) into:
ω i + 1 = ω i - ( ω i - ω i - 1 ) s a t ( J i J i - 1 + J i )
k 1 i + 1 = k 1 i - ( k 1 i - k 1 i - 1 ) s a t ( J i J i - 1 + J i )
k 2 i + 1 = k 2 i - ( k 2 i - k 2 i - 1 ) s a t ( J i J i - 1 + J i )
Further, it is iterated study and optimizes, the notch filter parameter of optimization is downloaded to linear servo system control system Dsp chip in, re-enter the step signal in step one, gather linear servo system output displacement, and utilize secant The iterative formula of iterative learning carries out parameter iteration optimizing, after three parameters for the first time iteration convergence, keeps frequency parameter ω Constant, k1 and k2 is further added by step-length, continues iterative learning and optimize k1 and k2 parameter；
Further, secant iterative learning is utilized to optimize k1 and k2 parameter, when k2 self-sustained oscillation near a certain fixed value, Then take the iteration final optimization pass value that this value is parameter k2, keep parameter k2 constant in this value, and keep acting frequency parameter ω to be Optimal value, proceeds the iteration optimization experiment of k1 parameter, until k1 parameter self-sustained oscillation or convergence near a certain fixed value In a certain fixed value, then take the iteration final optimization pass value that this value is parameter k1.
Further, linear servo system is straight line single shaft linear electric motors.
Further, host computer is computer or industrial computer.Preferably, host computer is computer, and computer applications is the most universal, directly Connect and utilize computer to do host computer, it is not necessary to increase additional investment, reduce production cost.
Compared with prior art, the method have the advantages that
The present invention solves the problem that linear servo system resonance suppresses, it is provided that a kind of based on secant iterative learning optimization trap Filter control parameter.Control method of the present invention is simple, practical, precision is high.
Accompanying drawing explanation
Fig. 1 is control system block diagram of the present invention；
Fig. 2 is that the present invention utilizes secant iterative learning to optimize notch filter parameter flow chart；
Fig. 3 be the Frequency point ω of the notch filter effect of the present invention, notch bandwidth parameter k1 and notch depth parameter k2 with Iterations variation diagram；
Fig. 4 is that the present invention does not adds notch filter and adds the error comparison diagram of notch filter.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, to this Bright it is further elaborated.Should be appreciated that specific embodiment described herein, and need not only in order to explain the present invention In limiting the present invention.
On the contrary, the present invention contain any be defined by the claims the replacement made in the spirit and scope of the present invention, amendment, etc. Efficacious prescriptions method and scheme.Further, in order to make the public that the present invention to be had a better understanding, below the details of the present invention is described In, detailed describe some specific detail sections.The description not having these detail sections for a person skilled in the art also may be used To understand the present invention completely.
The linear servo system resonance control method of the present invention, described method comprises the steps of:
Step one: cathetus servosystem executor of the present invention is straight line single shaft linear electric motors, connects linear electric motors and motion control Fabrication, uses computer as host computer, opens upper computer software, arrange the controller parameter including notch filter parameter, Download parameters in the dsp chip on motion control card.After controller parameter has been downloaded, enable servosystem, make electricity Machine closed loop.At linear servo system signal input part input step signal r1T (), signal step point produces at 1s, it is stipulated that adopt Sample cycle TsFor 0.0005s, gather output displacement signal y1T (), acquisition time is 5s, totally 10001 sampled points, input letter Number r1T () deducts output signal y1T () is error signal e1(t).The response regulation time of regulation linear servo system is 2s, and iteration is excellent The error signal e used during change1T () is 2s after.
Step 2: in step one, its transmission function of notch filter H (s) is
H ( s ) = as 2 + c s + 1 as 2 + b s + 1
Whereinω be the Frequency point of notch filter effect, k1 be notch bandwidth parameter and K2 is notch depth parameter.By the transmission function discretization of notch filter, and by the DSP of programming programming to motion control card In chip.Controller parameter ω, k1, k2 initial value is set and is respectively 200rad/s, 1,0.001, these three initial value is downloaded to In dsp chip in motion control card.
Step 3: the renewal Frequency point ω of notch filter effect, notch bandwidth parameter k1 and notch depth parameter k2, three Individual parameter becomes 220rad/s, 1.02,0.00105 respectively, and the step-length of three Parameters variation is respectively 20rad/s, 0.02,0.00005, And download in dsp chip.At signal input part input step signal r2(t), identical with input signal in step one, gather Output signal y2T (), by input signal r2T () deducts output signal y2T () obtains error signal e2(t).Equally, cast out 0-2s's Error information.
Step 4: the value formula of calculating target function is as follows:
J = Σ k = 4000 10001 e 2 ( k )
Then the error target function in step one and step 2 is J1With J2。
Step 5: utilize secant iterative learning: regulation notch filter ω, k1, k2 tri-parameter variation range, ω is 200 To 565rad/s, k1 be 1-3, k2 be 0.001-0.003, utilize front twice Acquisition Error calculated object function, can obtain The iterative formula of notch filter parameter is as follows:
ω i + 1 = ω i + ( ω i - ω i - 1 ) s a t ( J i J i - 1 - J i )
k 1 i + 1 = k 1 i + ( k 1 i - k 1 i - 1 ) s a t ( J i J i - 1 - J i )
k 2 i + 1 = k 2 i + ( k 2 i - k 2 i - 1 ) s a t ( J i J i - 1 - J i )
WhereinIt is used for limiting Parameters variation step-length in iterative process, if ωk+1, k1i+1, k2i+1 Within the scope of limiting, then the optimal value after filter parameter is updated to iteration；If the parameter after Ji Suaning exceeds iteration limit scope Then iterative formula changes following form (parameter is independent of each other, and individually considers iteration ranges condition and selects iterative formula) into:
ω i + 1 = ω i - ( ω i - ω i - 1 ) s a t ( J i J i - 1 + J i )
k 1 i + 1 = k 1 i - ( k 1 i - k 1 i - 1 ) s a t ( J i J i - 1 + J i )
k 2 i + 1 = k 2 i - ( k 2 i - k 2 i - 1 ) s a t ( J i J i - 1 + J i )
Step 6: the notch filter parameter optimized in step 5 is downloaded to the dsp chip of linear servo system control system In, re-enter the step signal in step one, gather linear servo system output displacement, and utilize the iterative formula of step 5 Carry out parameter iteration optimizing, after three parameters for the first time iteration convergence, keep frequency parameter ω constant, k1 and k2 is increased again Add step-length in step 2, continue iterative learning and optimize k1 and k2 parameter.
Step 7: use the method iterative learning of step 6 to optimize k1 and k2 parameter, when k2 constant amplitude near a certain fixed value is shaken When swinging, then take the iteration final optimization pass value that this value is parameter k2, keep parameter k2 constant in this value, and keep acting frequency to join Number ω is optimal value in step 5, proceeds the iteration optimization experiment of k1 parameter, until k1 parameter is near a certain fixed value Self-sustained oscillation or converge on a certain fixed value.So far, three parameter iteration study optimizations of notch filter are accomplished to optimal value. In linear servo system controller, add this notch filter, its resonance can be suppressed.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and former Any amendment, equivalent and the improvement etc. made within then, should be included within the scope of the present invention.

Claims (9)

1. a linear servo system mechanical resonant control method, it is characterised in that comprise the following steps:
Step one: connect linear servo system and motion control card, opens upper computer software, arranges the controller parameter including notch filter parameter, downloads parameters in the dsp chip on motion control card；Step 2: after controller parameter has been downloaded, enables servosystem, makes motor closed loop；Step 3: at linear servo system signal input part input step signal r1T (), signal step point produces at 1s, it is stipulated that sampling period TsFor 0.0005s, gather output displacement signal y1T (), acquisition time is 5s, totally 10001 sampled points, input signal r1T () deducts output signal y1T () is error signal e1(t)；Step 4: the response regulation time of regulation linear servo system is 2s, the error signal e used during iteration optimization1T () is 2s after；Step 5: utilize secant iterative learning that the three of notch filter parameter iteration study optimizations are accomplished to optimal value；In linear servo system controller, add this notch filter, suppress its resonance.
2. a kind of linear servo system mechanical resonant control method as claimed in claim 1, it is characterised in that
In step one, its transmission function of notch filter H (s) is
Whereinω is that the Frequency point of notch filter effect, k1 are notch bandwidth parameter and k2 is notch depth parameter；By the transmission function discretization of notch filter, and by programming programming to the dsp chip of motion control card；Controller parameter ω, k1, k2 initial value is set and is respectively 200rad/s, 1,0.001, these three initial value is downloaded in the dsp chip in motion control card.
3. a kind of linear servo system mechanical resonant control method as claimed in claim 2, it is characterised in that
Update the Frequency point ω of notch filter effect, notch bandwidth parameter k1 and notch depth parameter k2, three parameters become 220rad/s, 1.02,0.00105 respectively, the step-length of three Parameters variation is respectively 20rad/s, 0.02,0.00005, and downloads in dsp chip；At signal input part input step signal r2(t), identical with input signal in step one, gather output signal y2T (), by input signal r2T () deducts output signal y2T () obtains error signal e2(t)；Equally, the error information of 0-2s is cast out.
4. a kind of linear servo system mechanical resonant control method as claimed in claim 3, it is characterised in that the value formula of calculating target function is as follows:
The object function of the most front twice experiment is respectively J1And J2。
5. a kind of linear servo system mechanical resonant control method as claimed in claim 3, it is characterized in that, described secant iterative learning: regulation notch filter ω, k1, k2 tri-parameter variation range, ω is 200 to 565rad/s, k1 is 1-3, k2 is 0.001-0.003, utilizes front twice Acquisition Error calculated object function, and the iterative formula that can obtain notch filter parameter is as follows:
WhereinIt is used for limiting Parameters variation step-length in iterative process, if ωk+1, k1i+1, k2i+1Within the scope of limiting, then the optimal value after filter parameter is updated to iteration；If the parameter after Ji Suaning is beyond iteration limit scope, iterative formula changes following form (parameter is independent of each other, and individually considers iteration ranges condition and selects iterative formula) into:
。
6. a kind of linear servo system mechanical resonant control method as claimed in claim 5, it is characterized in that, it is iterated study to optimize, the notch filter parameter of optimization is downloaded in the dsp chip of linear servo system control system, re-enter the step signal in step one, gather linear servo system output displacement, and utilize the iterative formula of secant iterative learning to carry out parameter iteration optimizing, after three parameters for the first time iteration convergence, keep frequency parameter ω constant, k1 and k2 is further added by middle step-length, continues iterative learning and optimize k1 and k2 parameter.
7. a kind of linear servo system mechanical resonant control method as claimed in claim 6, it is characterized in that, secant iterative learning optimization method is utilized to optimize k1 and k2 parameter, when k2 self-sustained oscillation near a certain fixed value, then take the iteration final optimization pass value that this value is parameter k2, keep parameter k2 constant in this value, and to keep acting frequency parameter ω be optimal value, proceed the iteration optimization experiment of k1 parameter, until k1 parameter self-sustained oscillation or converge on a certain fixed value near a certain fixed value, then take the iteration final optimization pass value that this value is parameter k1.
8. a kind of linear servo system mechanical resonant control method as described in claim 1-7 is arbitrary, it is characterised in that linear servo system is straight line single shaft linear electric motors.
9. a kind of linear servo system mechanical resonant control method as described in claim 1-7 is arbitrary, it is characterised in that host computer is computer or industrial computer.
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CN106325072A (en) * 2016-10-12 2017-01-11 浙江理工大学 Method for controlling mechanical residual vibration of linear servo system
CN106650598A (en) * 2016-10-12 2017-05-10 浙江理工大学 Iterative filtering identification method of linear motor transfer function
CN107272409A (en) * 2017-07-04 2017-10-20 浙江理工大学 A kind of linear servo system vibration suppressing method based on iterative learning
CN107748577A (en) * 2017-10-19 2018-03-02 哈尔滨工业大学 The mechanical resonant suppressing method of electromechanical servo system based on extremum seeking algorithm
CN108333935A (en) * 2018-01-30 2018-07-27 上海航天控制技术研究所 A kind of accurate adjustment method and system of notch filter

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106325072A (en) * 2016-10-12 2017-01-11 浙江理工大学 Method for controlling mechanical residual vibration of linear servo system
CN106650598A (en) * 2016-10-12 2017-05-10 浙江理工大学 Iterative filtering identification method of linear motor transfer function
CN106325072B (en) * 2016-10-12 2019-04-26 浙江理工大学 A kind of linear servo system machinery residual oscillation control method
CN106650598B (en) * 2016-10-12 2019-06-28 浙江理工大学 A kind of iterative filtering discrimination method of linear motor transmission function
CN107272409A (en) * 2017-07-04 2017-10-20 浙江理工大学 A kind of linear servo system vibration suppressing method based on iterative learning
CN107272409B (en) * 2017-07-04 2020-07-14 浙江理工大学 Linear servo system vibration suppression method based on iterative learning
CN107748577A (en) * 2017-10-19 2018-03-02 哈尔滨工业大学 The mechanical resonant suppressing method of electromechanical servo system based on extremum seeking algorithm
CN108333935A (en) * 2018-01-30 2018-07-27 上海航天控制技术研究所 A kind of accurate adjustment method and system of notch filter
CN108333935B (en) * 2018-01-30 2021-12-07 上海航天控制技术研究所 Precise debugging method and system based on second-order notch filter

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Application publication date: 20160907