CN106154838A - The residual oscillation suppressing method of a kind of positioner and system - Google Patents

Abstract

The invention discloses residual oscillation suppressing method and the system of a kind of positioner.Particular for the position control device of servo driver drives low rigid mechanical equipment, the method is implemented to perform by servo-driver.Specifically include: obtain home position instruction；Obtain amplitude and the time lag of continuous print n effect pulse；Obtain servo position and control the cycle；Calculate the transmission function that zero vibration zero derivative reshaper is discrete；Utilize zero vibration zero derivative reshaper discrete transfer function that home position is instructed shaping, obtain the discretization position command through shaping；Electric machine rotation is driven, the residual oscillation of the mechanical load end that motor shaft connects at the end of suppressing positioner location according to shaped discretization position command.The driver that the present invention provides has the function that home position instruction carries out shaping, makes positioner both can position in the range of the position error of license, can reduce positioning time again, improve the work efficiency of equipment.

Description

Residual oscillation suppression method and system for positioning device

Technical Field

The invention relates to the field of servo control, in particular to a method and a system for restraining residual oscillation of a positioning device.

Background

Currently, the ac servo system is increasingly widely applied in the field of modern automation, such as in positioning control devices for textile, packaging, assembly, laser processing, etc. Particularly for low rigidity equipment such as an industrial robot, after rapid positioning, residual oscillation of a load end (such as a mechanical arm end) is easy to occur. The residual vibration easily causes the problems of prolonged system positioning time, increased positioning error and the like. In order to enable a positioning control device to perform positioning within an allowable positioning error range and to shorten positioning time, a pulse input shaping technique is generally adopted in the prior art. The pulse input shaping mainly comprises a zero shaper, a zero oscillation zero derivative shaper, an extremely insensitive shaper and an optimal input shaper.

Based on the comprehensive consideration of robustness of the input shapers to the natural oscillation frequency change of the system, computational complexity and real-time performance, a zero oscillation zero derivative (ZVD) shaper is a better choice when selecting the shaper form.

However, when designing the ZVD shaper, first, system parameters need to be determined: the damped oscillation frequency and damping coefficient of the oscillating system, and then the amplitude and time lag of the action pulse are calculated. However, the damping coefficient in the actual system is very small, which is inconvenient for measurement and brings inconvenience for the use of the ZVD.

In addition, the current pulse shaper is implemented in the position planning stage of the superordinate controller (such as a motion control card, a motion controller, a PLC, etc.), and is not integrated inside the servo driver.

Disclosure of Invention

The invention aims to provide a method and a system for restraining residual oscillation of a positioning device, which are used for realizing the following steps: (1) the positioning device can perform positioning within the allowable positioning error range, reduce the positioning time and improve the working efficiency of equipment; (2) the residual vibration suppression function of the mechanical load tail end is integrated in the driver, so that a user does not need to develop or purchase other components with the residual vibration suppression function when developing a positioning system, and development time and cost are saved for the user; (3) the method provided by the invention does not need to measure the damping coefficient of the positioning device system, reduces the difficulty of determining the system parameters and brings convenience to the use of users.

In order to achieve the purpose, the invention provides the following scheme:

a method of suppressing residual oscillation, comprising:

acquiring an original position instruction, wherein the position instruction is an instruction for position control sent by an upper controller;

acquiring the amplitude and time lag of n continuous action pulses, wherein n is 3;

acquiring a servo position control period;

calculating a discrete transfer function of a zero oscillation zero derivative shaper;

discrete transfer function using zero oscillation zero derivative shaperShaping and discretizing the position instruction to obtain a shaped discrete position instruction, wherein A_iIs the amplitude of the i-th action pulse, N_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_iTime lag of the ith action pulse, T_cA servo position control period;

and controlling the motor to rotate according to the shaped discrete position command so as to inhibit residual oscillation of the tail end of the mechanical load connected with the motor shaft at the end of positioning by the positioning device.

Optionally, the acquiring amplitudes and time lags of the n consecutive action pulses specifically includes:

obtaining the vibration frequency of the tail end of the mechanical load, wherein the vibration frequency of the tail end of the mechanical load is measured by an off-line experimental test method;

setting the system damping ζ to 0;

calculating to obtain the amplitude A of the action pulse of the zero oscillation zero derivative shaper according to the vibration frequency and the system damping_iAnd a time lag T_i；

Optionally, the determination by the off-line experimental test method specifically comprises:

directly obtaining a vibration waveform of a mechanical load tail end through a laser interferometer, and measuring vibration frequency according to the vibration waveform;

or observing a position deviation curve or an actual position curve of the motor shaft when the system is positioned by a drawing function observation system of upper monitoring software of the servo system, and measuring the vibration frequency of the motor shaft to replace the vibration frequency of the tail end of the load;

or carrying out frequency spectrum analysis on the position or speed data of the motor shaft when the system is positioned by a fast Fourier analysis method to obtain the vibration frequency of the motor shaft to replace the vibration frequency of the tail end of the load.

Optionally, the calculating a discrete transfer function of the zero oscillation zero derivative shaper specifically includes:

obtaining a continuous transfer function of a zero-oscillation zero-derivative shaper in an s-domain, wherein the transfer function of the zero-oscillation zero-derivative shaper is as follows:

$F\left(s\right)=\underset{i=1}{\overset{n}{\Σ}}{A}_i{e}^{-T_{i}s},n=3$

wherein A is_iIs the amplitude of the i-th action pulse, T_iThe time lag for the ith action pulse;

converting the continuous transfer function of the zero-oscillation zero-derivative shaper into a discrete transfer function in the z-domain:

$Y\left(z\right)=\underset{i=1}{\overset{n}{\Σ}}{A}_i{z}^{-N_i},n=3$

wherein N is_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_cIs a servo position control period.

Optionally, the controlling the motor to rotate according to the shaped discrete position command specifically includes: and performing closed-loop feedback control on the position of the motor, performing closed-loop feedback control on the speed of the motor and performing closed-loop feedback control on the torque of the motor according to the shaped discrete position instruction.

The present invention also provides a system for suppressing residual oscillation, comprising:

the system comprises a position instruction acquisition unit, a position control unit and a position control unit, wherein the position instruction acquisition unit is used for acquiring an original position instruction which is an instruction sent by an upper controller and used for position control;

the amplitude time lag acquisition unit is used for acquiring the amplitudes and time lags of n continuous action pulses, wherein n is 3;

a control period acquisition unit for acquiring a servo position control period T_c；

The discrete function calculating unit is used for calculating a discrete transfer function of the zero oscillation zero derivative shaper;

a position command shaping discretization unit for discretizing a transfer function with a zero-oscillation zero-derivative shaperShaping and discretizing the position instruction to obtain a shaped and discretized position instruction, wherein A_iIs the amplitude of the i-th action pulse, N_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_iTime lag of the ith action pulse, T_cA servo position control period;

and the motor control unit is used for controlling the motor to rotate according to the shaped discrete position command so as to inhibit residual oscillation of the tail end of the mechanical load connected with the motor shaft when the positioning of the positioning device is finished.

Optionally, the amplitude time lag obtaining unit specifically includes:

the vibration frequency acquisition subunit is used for acquiring the vibration frequency of the tail end of the mechanical load, and the vibration frequency of the tail end of the mechanical load is measured by an off-line experimental test method;

a system damping ratio setting subunit for setting the system damping to 0;

an amplitude time-lag calculating subunit, which calculates the amplitude A of the continuous 3 action pulses according to the vibration frequency and the system damping_iAnd a time lag T_i，i＝1,2,3。

Optionally, the discrete transfer function calculating unit specifically includes:

a continuous transfer function obtaining subunit, configured to obtain a continuous transfer function of a zero oscillation zero derivative shaper, where a transfer function of the zero oscillation zero derivative shaper is:

$F\left(s\right)=\underset{i=1}{\overset{n}{\Σ}}{A}_i{e}^{-T_{i}s},n=3$

wherein A is_iIs the amplitude of the i-th action pulse, T_iThe time lag for the ith action pulse;

in the formula e is a natural constant; omega_n，ω_dζ is the natural frequency, damped oscillation frequency and damping coefficient of the positioner system, respectively, and f is the frequency of vibration at the end of the mechanical load.

A transfer function discretization subunit, configured to convert the continuous transfer function of the zero oscillation zero derivative shaper into a discrete transfer function:

$Y\left(z\right)=\underset{i=1}{\overset{n}{\Σ}}{A}_i{z}^{-N_i},n=3$

wherein N is_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_cIs a servo position control period.

Optionally, the motor control unit specifically includes:

the motor position control subunit is used for carrying out closed-loop feedback control on the position of the motor according to the shaped discrete position instruction;

the motor speed control subunit is used for carrying out closed-loop feedback control on the motor speed according to the feedback speed of the motor shaft code;

and the motor torque control subunit is used for carrying out closed-loop feedback control on the motor torque according to the feedback torque of the motor.

The invention also provides a servo driver for suppressing residual oscillations, said driver comprising a system according to any of claims 6-9.

The invention provides a residual oscillation suppression method and a residual oscillation suppression system of a positioning device, and particularly relates to a positioning control device for a servo driver to drive low-rigidity mechanical equipment. The invention can make the positioning device not only position within the allowable positioning error range, but also shorten the positioning time to improve the working efficiency of the equipment; secondly, as the residual vibration suppression function of the mechanical load tail end is integrated in the driver, a user does not need to develop or purchase other components with the function when developing a positioning system, so that the development time and cost are saved for the user; in addition, the method provided by the invention does not need to measure the damping coefficient of the positioning device system, thereby reducing the use difficulty of users.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a flow chart of a method of suppressing residual oscillation according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a system for suppressing residual oscillation according to an embodiment of the present invention;

FIG. 3 is a graph of position response without the addition of a ZVD shaper;

FIG. 4 is a graph of the position response when a ZVD shaper is added.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a method and a system for inhibiting residual oscillation, which can effectively inhibit the residual oscillation at the tail end of a mechanical load in a positioning device and can overcome the technical problems of large computation amount, low real-time property and difficulty in measuring and determining the damping coefficient of the system in the design process of a shaper in the prior art.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Fig. 1 is a flowchart of a method for suppressing residual oscillation according to an embodiment of the present invention, and as shown in fig. 1, the method for suppressing residual oscillation is applied to a servo driver, that is, the following steps are performed by the driver, and the specific steps are:

step 101: acquiring an original position instruction, wherein the position instruction is an instruction for position control sent by an upper controller;

step 102: acquiring the amplitude and time lag of n continuous action pulses, wherein n is 3;

step 103: obtaining a servo position control period T_c；

Step 104: calculating a discrete transfer function of a zero oscillation zero derivative shaper;

step 105: transfer function discretization with zero oscillation zero derivative shaperShaping the position instruction to obtain a shaped discrete position instruction, wherein A_iIs the amplitude of the i-th action pulse, N_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_iTime lag of the ith action pulse, T_cA servo position control period;

step 106: controlling the motor to rotate according to the shaped discrete position command to dampen residual oscillations at the end of the mechanical load coupled to the motor shaft.

In step 102, the obtaining of the pulse amplitude and the time lag specifically includes: the vibration frequency f of the mechanical load end is obtained and the damping coefficient ζ of the mechanical load end is set to 0, sinceWherein, thus, K can be calculated from the natural constants e and ζ, and T can be calculated from the damped vibration frequency ω_dNatural frequency omega_nThe damping coefficient zeta or the vibration frequency f at the tail end of the mechanical load is calculated, and the amplitude A of the action pulse is further calculated_i. To obtain A₁＝0.25、A₂＝0.5、A₃0.25, the continuous transfer function of the zero oscillation zero derivative shaper is:

$F\left(s\right)=\underset{i=1}{\overset{3}{\mathrm{\Σ}}}{A}_i{e}^{-T_{i}s}=0.25+0.5e^{-T_{2}s}+0.25e^{-T_{3}s}.$

the mechanical load end vibration frequency f can be obtained by the following methods: firstly, directly obtaining the vibration waveform of the tail end of the mechanical load through equipment (such as a laser interferometer), and directly measuring the vibration frequency. And secondly, observing a position deviation curve (or an actual position curve) through a drawing function of an upper computer of the servo system and measuring the vibration frequency of the motor shaft to approximately replace the vibration frequency of the load. This is because the residual vibration at the end of the mechanical load during positioning also drives the motor to vibrate, and it can be considered that the vibration frequency of the motor shaft is close to the vibration frequency of the load. And thirdly, performing frequency spectrum analysis on the position or speed data when the system is positioned by a Fast Fourier Transform (FFT) analysis method to obtain the vibration frequency of the motor shaft to approximately replace the load vibration frequency.

The step 104 of calculating the discrete transfer function of the zero oscillation zero derivative shaper specifically includes: discretizing a continuous transfer function into

$Y\left(z\right)=\underset{i=1}{\overset{3}{\mathrm{\Σ}}}{A}_i{z}^{-N_i}=0.25+0.5z^{-N_2}+0.25z^{-N_3},$

Wherein the discrete domainsCorresponding to a continuous domainN_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_cIs a servo position control period.

In the embodiment, the vibration frequency of the actual position curve of the system motor measured by the method ② is 15.6Hz, and the time lag T of the action pulse can be calculated_i. The ZVD shaper transfer function can be obtained by the formula:

$F\left(s\right)=\underset{i=1}{\overset{3}{\mathrm{\Σ}}}{A}_i{e}^{-T_{i}s}=0.25+0.5e^{-0.032s}+0.25e^{-0.064s}$

position control period T of actual system_cAnd (4) obtaining a ZVD shaper discretization model according to the formula as 0.0002 s:

$Y\left(z\right)=\underset{i=1}{\overset{3}{\mathrm{\Σ}}}{A}_i{z}^{-N_i}=0.25+0.5z^{-160}+0.25z^{-320}$

after the driver receives the position instruction, the position instruction is shaped and discretized by using a ZVD shaper discretization model to obtain a shaped discrete position instruction theta_nFinally according to said shaped discrete position instruction theta_nThe method comprises the steps of carrying out closed-loop feedback control on the position of a motor, carrying out closed-loop feedback control on the speed of the motor and carrying out closed-loop feedback control on the torque of the motor.

The driver can directly drive theta_nThe position ring command can be input through an electronic gear frequency division and multiplication link and a smooth filtering link and then is given as the position ring command. The position controller is typically in the form of a proportional controller, the motor shaft being rotated through an angle theta_mFed back to the position controller by the encoder, the position controller will be fed with theta_nAnd theta_mThe difference is multiplied by the coefficient of the proportional controller (i.e. the position loop gain) to obtain the command of the speed loop. The speed and current control unit can be realized by common closed-loop control, and outputs three-phase current to drive the motor to rotate.

The scheme provided by the invention is adopted for simulation verification, and comparing the effect graphs in fig. 3 and fig. 4, the low-frequency oscillation of the mechanical load tail end of the positioning control device can be effectively inhibited, so that the positioning error can be reduced and the positioning time can be shortened when the positioning control device is positioned.

Fig. 2 is a schematic structural diagram of a system for suppressing residual oscillation according to an embodiment of the present invention, as shown in fig. 2, the system is located in a driver, and specifically includes a position instruction obtaining unit 201, configured to obtain an original position instruction, where the position instruction is an instruction sent by an upper controller for position control; an amplitude-time lag acquisition unit 202 for acquiring the amplitudes and time lags of n successive action pulses, where n is 3; control period acquisitionA fetch unit 203 for obtaining a servo position control period T_c(ii) a A discrete function calculation unit 204 for calculating a discrete transfer function of the zero-oscillation zero-derivative shaperWherein A is_iIs the amplitude of the i-th action pulse, N_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_iTime lag of the ith action pulse, T_cA servo position control period; the position instruction shaping discretization unit 205 is used for shaping and discretizing the position instruction by using a discrete transfer function of the zero oscillation zero derivative shaper to obtain a shaped and discrete position instruction; and the motor control unit 206 is used for controlling the motor to rotate according to the discrete position command and inhibiting residual oscillation at the tail end of the mechanical load connected with the motor.

The amplitude time lag obtaining unit 202 specifically includes a vibration frequency obtaining subunit, configured to obtain a vibration frequency of the tail end of the mechanical load, where the vibration frequency of the tail end of the mechanical load is determined by using an offline experimental test method; and the system damping setting subunit is used for setting the system damping zeta to 0. An amplitude time-lag calculating subunit, which calculates the amplitude A of the n continuous action pulses according to the vibration frequency and the system damping_iAnd a time lag T_i，i＝1,2,3。

The discrete function calculating unit 204 specifically includes a continuous transfer function obtaining subunit, configured to obtain a continuous transfer function of the zero oscillation zero derivative shaper, where the transfer function of the zero oscillation zero derivative shaper is:wherein A is_iIs the amplitude of the i-th action pulse, T_iThe time lag for the ith action pulse; a transfer function discretization subunit, configured to convert the continuous transfer function of the zero oscillation zero derivative shaper into a discrete transfer function:wherein N is_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_cIs a servo position control period.

The motor control unit 206 specifically includes a motor position control subunit, and is configured to shape the discretization unit 205 according to the position instruction to obtain a shaped discrete position instruction, and perform closed-loop feedback control on the motor position; the speed and torque control subunit can be realized by common closed-loop control, and outputs three-phase current to drive the motor to rotate.

The driver provided by the invention enables a user to develop a positioning system without developing or purchasing other components with the function of inhibiting the residual vibration at the tail end of the mechanical load, thereby bringing convenience to the user.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A method of suppressing residual oscillation of a positioning device, comprising:

acquiring an original position instruction, wherein the position instruction is an instruction for position control sent by an upper controller;

acquiring the amplitude and time lag of n continuous action pulses, wherein n is 3;

acquiring a servo position control period;

calculating a discrete transfer function of a zero oscillation zero derivative shaper;

discrete type using zero oscillation zero derivative shaperTransfer functionAnd performing shaping discretization on the position instruction to obtain a shaped discretized position instruction, wherein A_iIs the amplitude of the i-th action pulse, N_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_iTime lag of the ith action pulse, T_cFor the servo position control period, n is 3;

and driving the motor to rotate according to the shaped and discretized position command so as to inhibit residual oscillation of the tail end of the mechanical load connected with the motor shaft when the positioning of the positioning device is finished.

2. The method of suppressing residual oscillations according to claim 1, characterized in that said acquisition of the amplitude and the time lag of successive n action pulses specifically comprises:

obtaining the vibration frequency of the mechanical load tail end at the end of positioning, wherein the vibration frequency of the mechanical load tail end is measured by an off-line experimental test method;

setting a system damping coefficient zeta to 0;

according to the vibration frequency and the system damping, the amplitude A of continuous n action pulses of the zero oscillation zero derivative shaper is calculated_iAnd a time lag T_i，i＝1,2,3。

3. The method for suppressing residual oscillation according to claim 2, wherein the off-line experimental test method is used for determining that:

directly obtaining a vibration waveform of a mechanical load tail end through a laser interferometer, and measuring vibration frequency according to the vibration waveform;

or observing a position deviation curve or an actual position curve of the motor shaft when the system is positioned by a drawing function observation system of upper monitoring software on the servo system, and measuring the vibration frequency of the motor shaft to replace the vibration frequency of the tail end of the load;

or carrying out frequency spectrum analysis on the position or speed data of the motor shaft when the system is positioned by a fast Fourier analysis method to obtain the vibration frequency of the motor shaft to replace the vibration frequency of the tail end of the load.

4. The method of suppressing residual oscillations according to claim 1, characterized in that, said calculating a zero oscillation zero derivative shaper discrete transfer function specifically comprises:

obtaining a continuous transfer function of a zero-oscillation zero-derivative shaper in an s-domain, wherein the transfer function of the zero-oscillation zero-derivative shaper is as follows:

wherein A is_iIs the amplitude of the i-th action pulse, T_iThe time lag for the ith action pulse;

converting the zero oscillation zero derivative shaper continuous transfer function into a discrete transfer function in the z-domain:

wherein N is_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_cIs the servo drive position control period.

5. The method of suppressing residual oscillations according to claim 1, characterized in that, said controlling motor rotation according to said shaped discrete position command. The method specifically comprises the following steps: and performing closed-loop feedback control on the position of the motor, the speed of the motor and the torque of the motor according to the shaped discrete position command.

6. A residual oscillation suppression system for a positioning device, comprising:

the system comprises a position instruction acquisition unit, a position control unit and a position control unit, wherein the position instruction acquisition unit is used for acquiring an original position instruction which is an instruction sent by an upper controller and used for position control;

the amplitude time lag acquisition unit is used for acquiring the amplitudes and time lags of n continuous action pulses, wherein n is 3;

a control period acquisition unit for acquiring a servo position control period T_c；

The discrete function calculating unit is used for calculating a discrete transfer function of the zero oscillation zero derivative shaper;

a position command shaping discretization unit for discretizing a transfer function with a zero-oscillation zero-derivative shaperShaping and discretizing the position instruction to obtain a shaped discrete position instruction, wherein A_iIs the amplitude of the i-th action pulse, N_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_iTime lag of the ith action pulse, T_cA servo position control period;

and the motor control unit is used for controlling the motor to rotate according to the shaped discrete position command so as to inhibit residual oscillation of the tail end of the mechanical load connected with the motor shaft when the positioning of the positioning device is finished.

7. The system according to claim 6, wherein the magnitude skew obtaining unit specifically includes:

the vibration frequency acquisition subunit is used for acquiring the vibration frequency of the tail end of the mechanical load, and the vibration frequency of the tail end of the mechanical load is measured by an off-line experimental test method;

a system damping ratio setting subunit configured to set a system damping ζ to 0;

an amplitude time-lag calculating subunit for calculating the amplitude time-lag according to the vibration frequency and the systemDamping, calculating to obtain the amplitude A of continuous 3 action pulses_iAnd a time lag T_i，i＝1,2,3。

8. The system according to claim 6, wherein the discrete transfer function calculation unit specifically comprises:

a continuous transfer function obtaining subunit, configured to obtain a continuous transfer function of a zero oscillation zero derivative shaper, where the transfer function of the zero oscillation zero derivative shaper is:

wherein A is_iIs the amplitude of the i-th action pulse, T_iThe time lag for the ith action pulse;

in the formula e is a natural constant; omega_n，ω_dζ is the natural frequency, damped oscillation frequency and damping coefficient of the positioner system, respectively, and f is the frequency of vibration at the end of the mechanical load.

A transfer function discretization subunit, configured to convert the continuous transfer function of the zero oscillation zero derivative shaper into a discrete transfer function:

wherein N is_i＝Round(T_i/T_c) Round () is T_i/T_cRounding off the one digit of the decimal point of the calculated value to obtain a function of the integer, T_cIs a servo position control period.

9. The system according to claim 6, characterized in that the motor control unit comprises in particular:

the motor position control subunit is used for carrying out closed-loop feedback control on the position of the motor according to the shaped discrete position instruction;

the motor speed control subunit is used for carrying out closed-loop feedback control on the motor speed according to the feedback speed of the motor shaft code;

and the motor torque control subunit is used for carrying out closed-loop feedback control on the motor torque according to the feedback torque of the motor.

10. A servo driver for suppressing residual oscillations, characterized in that said driver comprises a system according to any of claims 6-9.