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

The residual oscillation suppressing method of a kind of positioner and system Download PDF

Info

Publication number
CN106154838A
CN106154838A CN201610801531.XA CN201610801531A CN106154838A CN 106154838 A CN106154838 A CN 106154838A CN 201610801531 A CN201610801531 A CN 201610801531A CN 106154838 A CN106154838 A CN 106154838A
Authority
CN
China
Prior art keywords
vibration
zero
reshaper
frequency
discrete
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610801531.XA
Other languages
Chinese (zh)
Inventor
吴远
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Enc Electrical Technology Co Ltd
Original Assignee
Shenzhen Enc Electrical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Enc Electrical Technology Co Ltd filed Critical Shenzhen Enc Electrical Technology Co Ltd
Priority to CN201610801531.XA priority Critical patent/CN106154838A/en
Publication of CN106154838A publication Critical patent/CN106154838A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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

The residual oscillation suppressing method of a kind of positioner and system
Technical field
The present invention relates to SERVO CONTROL field, suppress the method for positioner residual oscillation, system particularly to a kind of.
Background technology
Currently, the AC servo application in modern automation field is increasingly extensive, as being used in weaving, packing, fill Join, in the position control device such as Laser Processing.Especially for low rigid device such as industrial robots, behind quickly location, it is born Carry end (such as mechanical arm end) and residual oscillation easily occurs.This residual oscillation is easily caused system and extends positioning time, location The problems such as error increase.In order to make position control device both can position in the range of the position error of license, can reduce again Positioning time, this technology of pulse input shaper that existing technology is commonly used.Pulse input shaper mainly have zero reshaper, Zero vibration zero derivative reshaper, much less responsive reshaper and optimum input shaper several types.
Robustness system natural mode shape changed according to above several input shapers and complexity of the calculation, reality Time property considers, and when selecting reshaper form, zero vibration zero derivative (ZVD) reshaper is a preferable selection.
But when designing ZVD reshaper, it is necessary first to determine systematic parameter: the damped oscillation frequency of oscillatory system and damping Coefficient, the amplitude of then calculating effect pulse and time lag.But damped coefficient in real system is the least, inconvenience is measured, and is also The use of ZVD brings inconvenience.
Additionally, current PRF reshaper is in the position of host controller (such as motion control card, motion controller, PLC etc.) Put what the planning stage realized, be not internally integrated realization at servo-driver.
Summary of the invention
It is an object of the invention to provide a kind of method of residual oscillation suppression of positioner, system, to realize: (1) makes Positioner both can position in the range of the position error of license, can reduce positioning time again, improves equipment work efficiency； (2) internal drive integrated mechanical load end residual oscillation suppression function, user is when development and location system, it is not necessary to go out again Send out or buy other components with this function, saving development time and expense for user；(3) method provided by the present invention is not Must the damped coefficient of measurement and positioning apparatus system, reduce the difficulty that systematic parameter determines, the use for user offers convenience.
For achieving the above object, the invention provides following scheme:
A kind of method suppressing residual oscillation, including:
Acquisition home position instructs, and described position command is the instruction for position control that host controller sends；
Obtain amplitude and time lag, the n=3 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 type transmission functionDescribed position command is carried out Shaping discretization, obtains the discrete location instruction of shaping, wherein, AiFor the amplitude of i-th effect pulse, Ni=Round (Ti/ Tc), Round () is Ti/TcThe one decimal place of value of calculation obtains the function of integer, T after rounding upiMake for i-th With the time lag of pulse, TcThe cycle is controlled for servo position；
Electric machine rotation is controlled, motor at the end of suppressing positioner to position according to described shaped discrete position command The residual oscillation of the mechanical load end that axle connects.
Optionally, amplitude and the time lag of described acquisition continuous print n effect pulse specifically includes:
Obtaining the frequency of vibration of described mechanical load end, the frequency of vibration of described mechanical load end uses test experiment Method of testing measures；
System damping ζ is set to 0；
According to described frequency of vibration and system damping, it is calculated the amplitude of the effect pulse of zero vibration zero derivative reshaper AiWith time lag Ti；
Optionally, described employing test experiment method of testing measure particularly as follows:
Directly obtained the vibrational waveform of mechanical load end by laser interferometer, measure according to described vibrational waveform and shake Dynamic frequency；
Or motor shaft position aberration curve when being positioned by the drawing function observation system of servosystem upper monitoring software Or physical location curve, and measure motor shaft frequency of vibration to replace load tip vibration frequency；
Or position or the speed data of motor shaft carry out spectrum analysis when being positioned system by fast Fourier analysis method, Obtain the frequency of vibration of motor shaft to replace load tip vibration frequency.
Optionally, the described calculating zero discrete transmission function of zero derivative reshaper that vibrates specifically includes:
Obtain zero vibration zero derivative reshaper and transmit function continuously in s territory, described zero vibration zero derivative reshaper Transmission function is:
F ( s ) = Σ i = 1 n A i e - T i s , n = 3
Wherein, AiFor the amplitude of i-th effect pulse, TiTime lag for i-th effect pulse；
Described zero vibration zero derivative reshaper continuous print transmission function is converted into the transmission function of discrete type in z territory:
Y ( z ) = Σ i = 1 n A i z - N i , n = 3
Wherein, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation is after rounding up Obtain the function of integer, TcThe cycle is controlled for servo position.
Optionally, described electric machine rotation is controlled according to described shaped discrete location instruction particularly as follows: according to described institute State the instruction of shaped discrete location motor position is carried out closed loop feedback control, motor speed is carried out closed loop feedback control and Motor torque is carried out closed loop feedback control.
Present invention also offers a kind of system suppressing residual oscillation, including:
Position command acquiring unit, is used for obtaining home position instruction, and described position command is that host controller sends Instruction for position control；
Amplitude time lag acquiring unit, for obtaining amplitude and time lag, the n=3 of continuous print n effect pulse；
Control cycle acquiring unit, is used for obtaining servo position and controls cycle Tc；
Discrete function computing unit, for calculating the transmission function that zero vibration zero derivative reshaper is discrete；
Position command shaping discretization unit, is used for the transmission function utilizing zero vibration zero derivative reshaper discreteDescribed position command is carried out shaping discretization, obtains the position command that shaping is discrete, wherein, AiIt is i-th The amplitude of individual effect pulse, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation gives up five through four The function of integer, T is obtained after enteringiFor the time lag of i-th effect pulse, TcThe cycle is controlled for servo position；
Motor control unit, for controlling electric machine rotation, to suppress location according to described shaped discrete location instruction The residual oscillation of the mechanical load end that motor shaft connects at the end of device location.
Optionally, described amplitude time lag acquiring unit specifically includes:
Frequency of vibration obtains subelement, for obtaining the frequency of vibration of described mechanical load end, and described mechanical load end The frequency of vibration of end uses test experiment method of testing to measure；
System damping ratio arranges subelement, for system damping is set to 0；
Amplitude time lag computation subunit, according to described frequency of vibration and system damping, is calculated continuous print 3 effect arteries and veins Amplitude A of punchingiWith time lag Ti, i=1,2,3.
Optionally, described discrete transmission letter computing unit specifically includes:
Continuously transmission function obtains subelement, transmits function continuously for obtaining zero vibration zero derivative reshaper, and described zero The transmission function of vibration zero derivative reshaper is:
F ( s ) = Σ i = 1 n A i e - T i s , n = 3
Wherein, AiFor the amplitude of i-th effect pulse, TiTime lag for i-th effect pulse；
In formula E is natural constant；ωn, ωd, ζ is respectively the eigentone of positioning apparatus system, damped oscillation frequency and resistance Buddhist nun's coefficient, f is the frequency of vibration of mechanical load end.
Transmission function discretization subelement, for being converted into described zero vibration zero derivative reshaper continuous print transmission function The transmission function of discrete type:
Y ( z ) = Σ i = 1 n A i z - N i , n = 3
Wherein, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation is after rounding up Obtain the function of integer, TcThe cycle is controlled for servo position.
Optionally, described motor control unit specifically includes:
Motor position controls subelement, for according to described shaped discrete location instruction, closing motor position Ring feedback control；
Motor speed controls subelement, for the feedback speed according to motor shaft coding, motor speed is carried out closed loop anti- Feedback controls；
Motor torque controls subelement, for the feedback torque according to motor, motor torque is carried out closed loop feedback control.
Present invention also offers a kind of servo-driver suppressing residual oscillation, described driver includes claim 6-9 System described in any one.
The invention provides the residual oscillation suppressing method of a kind of positioner, system, drive particular for servo-driver The position control device of dynamic low rigid mechanical equipment.The present invention can make positioner both can enter in the range of the position error of license Row location, can shorten again positioning time to improve the work efficiency of equipment；Secondly because the integrated mechanical load of internal drive is last End residual oscillation suppression function, user is when development and location system, it is not necessary to goes exploitation again or buys other structures with this function Part, saves development time and expense for user；Additionally, method provided by the present invention need not the damping of measurement and positioning apparatus system Coefficient, reduces user and uses difficulty.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only some enforcements of the present invention Example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings Obtain other accompanying drawing.
Fig. 1 is the method flow diagram of embodiment of the present invention suppression residual oscillation；
Fig. 2 is the system structure schematic diagram of embodiment of the present invention suppression residual oscillation；
Position response diagram when Fig. 3 is not add ZVD reshaper；
Position response diagram when Fig. 4 is to add ZVD reshaper.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.
It is an object of the invention to provide and a kind of suppress the method for residual oscillation, system, it is possible to effectively suppress positioner While the residual oscillation of middle mechanical load end, additionally it is possible to overcome in prior art operand in reshaper design process big, Real-time is low, and system damping coefficient is difficult to measure the technical problem determined.
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, real with concrete below in conjunction with the accompanying drawings The present invention is further detailed explanation to execute mode.
Fig. 1 is the method flow diagram of embodiment of the present invention suppression residual oscillation, as it is shown in figure 1, this suppression residual oscillation Method is applied among servo-driver, i.e. following methods step has been performed by driver, and concrete step is:
Step 101: obtain home position instruction, described position command be host controller send for position control Instruction；
Step 102: obtain amplitude and time lag, the n=3 of continuous print n effect pulse；
Step 103: obtain servo position and control cycle Tc；
Step 104: calculate the transmission function that zero vibration zero derivative reshaper is discrete；
Step 105: utilize the transmission function that zero vibration zero derivative reshaper is discreteDescribed position is referred to Order carries out shaping, obtains the discrete location through shaping and instructs, wherein, and AiFor the amplitude of i-th effect pulse, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation obtains the function of integer, T after rounding upiIt is i-th The time lag of individual effect pulse, TcThe cycle is controlled for servo position；
Step 106: control electric machine rotation, with the machine suppressing motor shaft to connect according to described shaped discrete location instruction The residual oscillation of tool load end.
In a step 102, the amplitude of pulse specifically includes with the acquisition of time lag: obtain the frequency of vibration of described mechanical load end F, and the damping coefficientζ of mechanical load end is set to 0, due to Wherein, Therefore, K can be calculated by natural constant e and ζ, and T can be by Damping vibration frequencies omegad, eigentone ωn, damping coefficientζ or mechanical load tip vibration frequency f is calculated, enter And calculate amplitude A of effect pulsei.Obtain A1=0.25, A2=0.5, A3=0.25, then zero vibration zero derivative reshaper Transmission function is continuously:
F ( s ) = Σ i = 1 3 A i e - T i s = 0.25 + 0.5 e - T 2 s + 0.25 e - T 3 s .
The acquisition of mechanical load tip vibration frequency f can use following several ways: the most directly by equipment (as laser is done Interferometer) obtain mechanical load end vibrational waveform, directly measure frequency of vibration.2. by the drawing of servosystem host computer Function observation position aberration curve (or physical location curve) also measures motor shaft frequency of vibration with approximation replacement load vibration Frequency.This is owing to the residual oscillation of position time tool load end also can vibrate by drive motor, it is believed that the vibration of motor shaft Frequency is close with load frequency of vibration.Position when 3. system being positioned by fast Fourier (FFT) analytic process or speed Data carry out spectrum analysis, and the frequency of vibration obtaining motor shaft replaces load frequency of vibration with approximation.
The discrete transfer function calculating zero vibration zero derivative reshaper in step 104 specifically includes: will transmit function continuously Discrete turn to
Y ( z ) = Σ i = 1 3 A i z - N i = 0.25 + 0.5 z - N 2 + 0.25 z - N 3 ,
Wherein, discrete domainCorresponding continuous domainNi=Round (Ti/Tc), Round () is Ti/TcValue of calculation One decimal place obtains the function of integer, T after rounding upcThe cycle is controlled for servo position.
2. the present embodiment pass-through mode records the frequency of vibration of system motor physical location curve is 15.6Hz, can calculate Obtain acting on time lag T of pulsei.By above-mentioned formula can obtain ZVD reshaper transmission function:
F ( s ) = Σ i = 1 3 A i e - T i s = 0.25 + 0.5 e - 0.032 s + 0.25 e - 0.064 s
The position control cycle T of real systemc=0.0002s, is obtained ZVD reshaper discretization model by above-mentioned formula:
Y ( z ) = Σ i = 1 3 A i z - N i = 0.25 + 0.5 z - 160 + 0.25 z - 320
After driver receives position command, utilize ZVD reshaper discretization model by position command shaping discretization, obtain Discrete location to shaping instructs θn, finally according to described shaped discrete location instruction θnMotor position is carried out closed loop anti- Feedback controls, motor speed carries out closed loop feedback control and motor torque is carried out closed loop feedback control.
Driver can be directly by θnInstruction as position ring inputs, it is possible to divide frequency multiplication link through electronic gear, smooth Filtering link is re-used as the instruction of position ring and gives.Positioner is generally proportional controller form, motor shaft rotational angle θmBy encoder feedback to positioner, positioner is by θnAnd θmDo difference to be multiplied by proportional controller coefficient again and (also ascend the throne Put ring gain) obtain the instruction of speed ring.Speed, current control unit can be realized by common closed loop control, export three-phase electricity Stream drives motor to rotate.
The scheme using the present invention to provide carries out simulating, verifying, comparison diagram 3, Fig. 4 design sketch, can be shown that position control device Mechanical load end low-frequency oscillation effectively suppressed so that position control device location time both can reduce position error, Positioning time can be shortened again.
Fig. 2 is the system structure schematic diagram of embodiment of the present invention suppression residual oscillation, as in figure 2 it is shown, this system is positioned at and drives Among dynamic device, specifically including position command acquiring unit 201, be used for obtaining home position instruction, described position command is upper The instruction for position control that controller sends；Amplitude time lag acquiring unit 202, is used for obtaining continuous print n effect pulse Amplitude and time lag, n=3；Control cycle acquiring unit 203, is used for obtaining servo position and controls cycle Tc；Discrete function calculates Unit 204, for calculating the transmission function that zero vibration zero derivative reshaper is discreteWherein, AiFor i-th The amplitude of effect pulse, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation is through rounding up After obtain the function of integer, TiFor the time lag of i-th effect pulse, TcThe cycle is controlled for servo position；Position command shaping is discrete Changing unit 205, it is discrete that the transmission function for utilizing zero vibration zero derivative reshaper discrete carries out shaping to described position command Change, obtain the position command that shaping is discrete；Motor control unit 206, turns for controlling motor according to the instruction of described discrete location Dynamic, the residual oscillation of the mechanical load end that suppression motor connects.
Wherein, amplitude time lag acquiring unit 202 specifically includes frequency of vibration and obtains subelement, is used for obtaining described machinery and bears Carrying the frequency of vibration of end, the frequency of vibration of described mechanical load end uses test experiment method of testing to measure；System damping sets Put subelement, for system damping ζ is set to 0.Amplitude time lag computation subunit, hinders with system according to described frequency of vibration Buddhist nun, is calculated amplitude A of continuous print n effect pulseiWith time lag Ti, i=1,2,3.
Discrete function computing unit 204 specifically includes transmission function continuously and obtains subelement, leads for obtaining zero vibration zero Number reshaper continuous print transmission function, the transmission function of described zero vibration zero derivative reshaper is: Wherein, AiFor the amplitude of i-th effect pulse, TiTime lag for i-th effect pulse；Transmission function discretization subelement, is used for Described zero vibration zero derivative reshaper continuous print transmission function is converted into the transmission function of discrete type: Wherein, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation obtains integer after rounding up Function, TcThe cycle is controlled for servo position.
Motor control unit 206 specifically includes motor position and controls subelement, for according to position command shaping discretization Unit 205 obtains the discrete location instruction of shaping, and motor position is carried out closed loop feedback control；Speed, direct torque subelement Can be realized by common closed loop control, output three-phase current drives motor to rotate.
The driver that the present invention provides makes user when development and location system, it is not necessary to go exploitation or purchase to have machinery more negative Carry other components of end residual oscillation suppression function, offer convenience for user, additionally, the method that the present invention provides need not be measured The damped coefficient of system, reduces the difficulty that systematic parameter determines.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other The difference of embodiment, between each embodiment, identical similar portion sees mutually.For system disclosed in embodiment For, owing to it corresponds to the method disclosed in Example, so describe is fairly simple, relevant part sees method part and says Bright.
Principle and the embodiment of the present invention are set forth by specific case used herein, saying of above example Bright method and the core concept thereof being only intended to help to understand the present invention；Simultaneously for one of ordinary skill in the art, foundation The thought of the present invention, the most all will change.In sum, this specification content is not It is interpreted as limitation of the present invention.

Claims (10)

1. the residual oscillation suppressing method of a positioner, it is characterised in that including:
Acquisition home position instructs, and described position command is the instruction for position control that host controller sends；
Obtain amplitude and time lag, the n=3 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 type transmission functionDescribed position command is carried out shaping Discretization, obtains the position command of shaping discretization, wherein, AiFor the amplitude of i-th effect pulse, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation obtains the function of integer, T after rounding upiFor i-th effect arteries and veins The time lag of punching, TcCycle, n=3 is controlled for servo position；
Position command according to described shaped discretization drives electric machine rotation, motor shaft at the end of suppressing positioner to position The residual oscillation of the mechanical load end connected.
The method of suppression residual oscillation the most according to claim 1, it is characterised in that n effect of described acquisition continuous print Amplitude and the time lag of pulse specifically include:
Obtaining the frequency of vibration at the end of location of described mechanical load end, the frequency of vibration of described mechanical load end is adopted Measure with test experiment method of testing；
System damping coefficient ζ is set to 0；
According to described frequency of vibration and system damping, it is calculated continuous n the effect pulse of zero vibration zero derivative reshaper Amplitude AiWith time lag Ti, i=1,2,3.
The method of suppression residual oscillation the most according to claim 2, it is characterised in that described employing test experiment method of testing Measure particularly as follows:
Directly obtained the vibrational waveform of mechanical load end by laser interferometer, measure vibration frequency according to described vibrational waveform Rate；
Or motor shaft position aberration curve when being positioned by the drawing function observation system of servosystem upper upper monitoring software Or physical location curve, and measure motor shaft frequency of vibration to replace load tip vibration frequency；
Or when being positioned system by fast Fourier analysis method, position or the speed data of motor shaft carry out spectrum analysis, obtain The frequency of vibration of motor shaft is to replace load tip vibration frequency.
The method of suppression residual oscillation the most according to claim 1, it is characterised in that described calculating zero zero derivative that vibrates is whole The discrete transmission function of shape device specifically includes:
Obtain zero vibration zero derivative reshaper and transmit function continuously in s territory, the transmission of described zero vibration zero derivative reshaper Function is:
Wherein, AiFor the amplitude of i-th effect pulse, TiTime lag for i-th effect pulse；
Described zero vibration zero derivative reshaper continuous transmission function is converted into the transmission function of discrete type in z territory:
Wherein, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation obtains after rounding up The function of integer, TcFor the servo-driver position control cycle.
The method of suppression residual oscillation the most according to claim 1, it is characterised in that described according to described shaped from Dissipate position command and control electric machine rotation.Particularly as follows: motor position is carried out closed loop according to described shaped discrete location instruction Feedback control, motor speed is carried out closed loop feedback control and motor torque is carried out closed loop feedback control.
6. the residual oscillation suppression system of a positioner, it is characterised in that including:
Position command acquiring unit, is used for obtaining home position instruction, described position command be host controller send for The instruction of position control；
Amplitude time lag acquiring unit, for obtaining amplitude and time lag, the n=3 of continuous print n effect pulse；
Control cycle acquiring unit, is used for obtaining servo position and controls cycle Tc；
Discrete function computing unit, for calculating the transmission function that zero vibration zero derivative reshaper is discrete；
Position command shaping discretization unit, is used for the transmission function utilizing zero vibration zero derivative reshaper discreteDescribed position command is carried out shaping discretization, obtains shaped discrete location instruction, wherein, AiFor The amplitude of i-th effect pulse, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation is through four houses Five enter after obtain the function of integer, TiFor the time lag of i-th effect pulse, TcThe cycle is controlled for servo position；
Motor control unit, for controlling electric machine rotation, to suppress positioner according to described shaped discrete location instruction The residual oscillation of the mechanical load end that motor shaft connects at the end of location.
System the most according to claim 6, it is characterised in that described amplitude time lag acquiring unit specifically includes:
Frequency of vibration obtains subelement, for obtaining the frequency of vibration of described mechanical load end, described mechanical load end Frequency of vibration uses test experiment method of testing to measure；
System damping ratio arranges subelement, for system damping ζ is set to 0；
Amplitude time lag computation subunit, according to described frequency of vibration and system damping, is calculated continuous print 3 effect pulse Amplitude AiWith time lag Ti, i=1,2,3.
System the most according to claim 6, it is characterised in that described discrete transfer function computing unit specifically includes:
Transmission function obtains subelement continuously, and for obtaining zero vibration zero derivative reshaper continuous print transmission function, described zero shakes The transmission function swinging zero derivative reshaper is:
Wherein, AiFor the amplitude of i-th effect pulse, TiTime lag for i-th effect pulse；
In formula E is natural constant；ωn, ωd, ζ is respectively the eigentone of positioning apparatus system, damped oscillation frequency and damping Coefficient, f is the frequency of vibration of mechanical load end.
Transmission function discretization subelement, for being converted into discrete by described zero vibration zero derivative reshaper continuous print transmission function The transmission function of type:
Wherein, Ni=Round (Ti/Tc), Round () is Ti/TcThe one decimal place of value of calculation obtains after rounding up The function of integer, TcThe cycle is controlled for servo position.
System the most according to claim 6, it is characterised in that described motor control unit specifically includes:
Motor position controls subelement, for according to described shaped discrete location instruction, motor position being carried out closed loop anti- Feedback controls；
Motor speed controls subelement, for the feedback speed according to motor shaft coding, motor speed is carried out closed loop feedback control System；
Motor torque controls subelement, for the feedback torque according to motor, motor torque is carried out closed loop feedback control.
10. the servo-driver suppressing residual oscillation, it is characterised in that described driver includes that claim 6-9 is arbitrary System described in Xiang.
CN201610801531.XA 2016-09-05 2016-09-05 The residual oscillation suppressing method of a kind of positioner and system Pending CN106154838A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610801531.XA CN106154838A (en) 2016-09-05 2016-09-05 The residual oscillation suppressing method of a kind of positioner and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610801531.XA CN106154838A (en) 2016-09-05 2016-09-05 The residual oscillation suppressing method of a kind of positioner and system

Publications (1)

Publication Number Publication Date
CN106154838A true CN106154838A (en) 2016-11-23

Family

ID=57344543

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610801531.XA Pending CN106154838A (en) 2016-09-05 2016-09-05 The residual oscillation suppressing method of a kind of positioner and system

Country Status (1)

Country Link
CN (1) CN106154838A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN107544247A (en) * 2017-09-11 2018-01-05 北京航空航天大学 A kind of method and system for suppressing mechanical moving structure vibration
CN110239140A (en) * 2019-06-13 2019-09-17 博众精工科技股份有限公司 A kind of servo press equipment compress control method based on input shaper
CN111367170A (en) * 2020-02-11 2020-07-03 固高科技(深圳)有限公司 Input shaper design method
CN113848700A (en) * 2020-06-28 2021-12-28 北京配天技术有限公司 Robot jitter suppression method, device, equipment and readable storage medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4517500A (en) * 1983-11-16 1985-05-14 Fmc Corporation Controller for electromagnetic exciter using power line subharmonic
CN101156117A (en) * 2005-04-07 2008-04-02 贝利莫控股公司 Suppression of vibrations
CN101584111A (en) * 2007-01-17 2009-11-18 松下电器产业株式会社 Servo motor control device and control method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4517500A (en) * 1983-11-16 1985-05-14 Fmc Corporation Controller for electromagnetic exciter using power line subharmonic
CN101156117A (en) * 2005-04-07 2008-04-02 贝利莫控股公司 Suppression of vibrations
CN101584111A (en) * 2007-01-17 2009-11-18 松下电器产业株式会社 Servo motor control device and control method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
经迎龙: "闭环输入整形器控制策略研究", 《中国优秀硕士学位论文全文数据库（电子期刊） 工程科技II辑》 *
陈俊恒: "输入整形减振算法的研究与实现", 《中国优秀硕士学位论文全文数据库（电子期刊） 信息科技辑》 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN107544247A (en) * 2017-09-11 2018-01-05 北京航空航天大学 A kind of method and system for suppressing mechanical moving structure vibration
CN110239140A (en) * 2019-06-13 2019-09-17 博众精工科技股份有限公司 A kind of servo press equipment compress control method based on input shaper
CN110239140B (en) * 2019-06-13 2021-06-15 博众精工科技股份有限公司 Servo laminating equipment pressure control method based on input shaping
CN111367170A (en) * 2020-02-11 2020-07-03 固高科技(深圳)有限公司 Input shaper design method
CN111367170B (en) * 2020-02-11 2023-08-08 固高科技股份有限公司 Input shaper design method
CN113848700A (en) * 2020-06-28 2021-12-28 北京配天技术有限公司 Robot jitter suppression method, device, equipment and readable storage medium

Similar Documents

Publication Publication Date Title
CN106154838A (en) The residual oscillation suppressing method of a kind of positioner and system
CN100538563C (en) Control device
Vaughan et al. Control of tower cranes with double-pendulum payload dynamics
CN105404744B (en) A kind of space manipulator total state dynamics semi-physical system
JP4571225B1 (en) Power consumption estimation device
CN107203184A (en) The dynamic control method of straight line steering wheel Electric Loading System
CN103781603B (en) Control method and control device
CN104122089B (en) Turboshaft engine speed torque signal simulation device and simulation method
CN107901037A (en) A kind of joint of robot modification methodology of dynamics model
CN103558079A (en) Multi-degree-of-freedom loading method based on parallel mechanism driving force closed loop
CN104199283A (en) Test system and control method for electro-hydraulic servo online self-adjusting fuzzy PID control
CN104723341A (en) Positioning control method for flexibility joint mechanical arm based on connection and damping configuration
CN105184031B (en) A kind of light-weight design method for the people's handle configurations that put together machines
CN103310038A (en) Virtual machine actual electricity simulation system and method for rotary guiding executing mechanism
CN108062452A (en) A kind of arc-shaped tooth worm decelerating machine evaluation of dynamic and optimization method
CN105095543A (en) Method and device for simulating lifting process of large-sized equipment
Wang et al. Digital twin-driven virtual commissioning of machine tool
CN105329788A (en) Uniform velocity amplitude-varying control method for jib crane
CN110234473A (en) System and method for determining the dynamic motion data in robot trajectory
Pelaez et al. Input shaping reference commands for trajectory following Cartesian machines
JP5762166B2 (en) Vibration suppression method
CN106019944A (en) Momentum wheel simulator based on self-adaptive friction moment model
CN103034253B (en) Inhibition method of vibration in dynamic physical process and inhibition system of vibration in dynamic physical process
CN102252126A (en) Method for identifying parameters of servo object in electro-hydraulic angular displacement servo system
CN114800523B (en) Mechanical arm track correction method, system, computer and readable storage medium

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20161123