CN107748577A - The mechanical resonant suppressing method of electromechanical servo system based on extremum seeking algorithm - Google Patents
The mechanical resonant suppressing method of electromechanical servo system based on extremum seeking algorithm Download PDFInfo
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- CN107748577A CN107748577A CN201710982166.1A CN201710982166A CN107748577A CN 107748577 A CN107748577 A CN 107748577A CN 201710982166 A CN201710982166 A CN 201710982166A CN 107748577 A CN107748577 A CN 107748577A
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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
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- 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
- G05B13/045—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 using a perturbation signal
Abstract
The mechanical resonant suppressing method of electromechanical servo system based on extremum seeking algorithm, belong to electromechanical servo system mechanical resonant and suppress field, solve the problems, such as the existing mechanical resonant suppressing method poor real based on adaptive notch filter.The mechanical resonant suppressing method introduces extremum seeking algorithm the design of adaptive notch filter, output signal amplitude structure cost function based on bandpass filter, the identification problem of mechanical resonant frequency is converted into the maximum searching problem of bandpass filter output signal amplitude, cost function is built based on notch filter output signal amplitude, the minimum that resonance suppression problem is converted into notch filter output signal amplitude searches for problem, width parameter using the width parameter of notch filter during output signal amplitude minimum and depth parameter and the mechanical resonant frequency recognized as the notch filter unit set up in controller, depth parameter and centre frequency, and electromechanical servo system is controlled by the controller.
Description
Technical field
The present invention relates to a kind of mechanical resonant suppressing method of electromechanical servo system, belong to electromechanical servo system mechanical resonant
Suppression field.
Background technology
In electromechanical servo system, the transmission mechanism such as motor generally use power transmission shaft, gear or shaft coupling is with loading phase
Even.It is perfect rigidity body not to be due to transmission mechanism, therefore Flexible Transmission between motor and load be present.When load inertia compared with
When big, the Flexible Transmission between motor and load can cause the output of electromechanical servo system substantially to lag.Further say, work as electromechanics
During the lag output of servo-drive system, due to caused two conjugation complex poles in its transmission function machine occurs for electromechanical servo system
Tool resonance.Mechanical resonant can not only limit the closed-loop bandwidth of electromechanical servo system, can even more limit the control of electromechanical servo system
Device gain, so as to cause, the dynamic property of electromechanical servo system declines, control accuracy is limited.On the other hand, mechanical resonant can make
Electromechanical servo system makes a noise, internal mechanical parts depreciation, and then causes that the quantity of heat production of electromechanical servo system increases, the energy disappears
Consumption increase.Thus, it is necessary to effectively be suppressed to its mechanical resonant before electromechanical servo system is put into use.
Existing mechanical resonant suppressing method mainly includes addition notch filter method and adaptive notch filter manually
Method.Wherein, addition notch filter method is manually：First pass through electromechanical servo system and carry out frequency sweep to confirm mechanical resonant frequency,
Notch filter is manually added again to obtain the input quantity of electromechanical servo system controller, and then suppresses mechanical resonant.So
And this method not only excessively relies on artificial experience, and itself poor real.Adaptive notch filter method is：By harmonic wave
Detection algorithm is combined with notch filter, designs the adaptive notch filter that can calculate mechanical resonant frequency, then
Input quantity using the relevant parameter of adaptive notch filter as electromechanical servo system controller, to suppress mechanical resonant.So
And because the amount of calculation of this adaptive notch filter method is excessive, cause its real-time poor.In addition, it is this adaptive
Answer requirement of the notch filter method to related hardware too high.
Extremum search control has simple in construction and amount of calculation small as a kind of self-adaptation control method for being not based on model
Many advantages, such as, when maximum or minimum value relation be present between system output and variable to be searched, i.e. system output can be with
When being represented with certain cost function, the table of cost function can be not accurately being known or not known with extremum seeking algorithm
When showing form, treat search variables and carry out extremum search, when variable to be searched reaches extreme point, you can so that the output of system
Obtain maximum or minimum value.
The theory diagram for disturbing extremum seeking algorithm is as shown in Figure 1.Extreme point and extreme value are not changed over time according to Fig. 1
Static system analyzed：
Any function f (θ) with 2 rank continuous derivatives can partly be expressed as form：
Assuming that f (θ) is in θ*There is minimum (big) value f at place*, then have f ">0(<0).Disturb the core purpose of extremum seeking algorithm just
It is to make θ-θ*It is small as far as possible, so that f (θ) progressivelyes reach its extreme value.
In Fig. 1, asin (ω t) is disturbing signal, and sin (ω t) is demodulated signal.When extremum search control performs, it is being
The extreme point that estimation is inputted in system is added with disturbing signal, obtains the input θ of function, so as to obtain the output y of system.Feeding back
On passage, the output y of estimation filters the direct current component in signal through high-pass filter, and being multiplied with demodulated signal sin (ω t) must
Arrived approximate gradient information ξ, finally by the continuous correction function of effect of integrator extreme value point estimate and reach
Extreme point.
Next the mathematic(al) treatment of disturbance extremum seeking algorithm is provided, and analyzes its convergence：
OrderFor the evaluated error of extreme point, can obtain：
WillIt is updated in formula (one), obtains：
Formula (two) is deployed, and utilizes double angle formula 2sin2(ω t)=1-cos (2 ω t) obtains expansion：
The y of output is passed through into high-pass filterEffect, eliminate direct current (normal) amount f*, obtain：
Then signal is multiplied with demodulated signal sin (ω t) and be demodulated：
Reuse double angle formula 2sin2(ω t)=1-cos (2 ω t), is obtained：
2cos (2 ω t) sin (ω t)=sin (3 ω t)-sin (ω t) (six)
Formula (six) is substituted into formula (five), obtained：
By integral element, the estimate of extreme point can be obtained：
Because we are only concerned local analysis, so ignoring lastQuadratic term, Section 2 and Section 3 are that frequency is
ω high-frequency signal, can significantly it be weakened when passing through integrator, so we also neglect.So, we can be with
Obtain approximation：
Becauseθ*It is constant, soFormula (nine) is substituted into, is obtained：
Understood according to formula (ten)：As long as kf ">0, system is exactly stable.So when searching for minimum (big) value, only need
Making k big (small), we can be obtained by extreme point evaluated error in zeroThe estimate of extreme point in other wordsIt can receive
Hold back θ*Very little neighborhood in.On the whole, the purpose of core for disturbing extremum seeking algorithm is exactly to make θ-θ*It is small as far as possible,
So that f (θ) progressivelyes reach its extreme value.
The content of the invention
The present invention asks for the poor real of the existing mechanical resonant suppressing method based on adaptive notch filter of solution
A kind of topic, it is proposed that mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm.
The mechanical resonant suppressing method of electromechanical servo system of the present invention based on extremum seeking algorithm is based on band logical
The controller of wave filter, notch filter and electromechanical servo system is realized；
The mechanical resonant suppressing method includes：
Step 1, using the output voltage signal of the controller or the displacement signal of load as pending signal；
Step 2, the input signal using pending signal as bandpass filter, using extremum seeking algorithm, band logical is filtered
The centre frequency of ripple device constantly obtains the output signal amplitude of bandpass filter as variable to be searched, until bandpass filtering
The output signal amplitude of device reaches maximum, and now the centre frequency of bandpass filter is the mechanical resonant frequency of electromechanical servo system
Rate；
Step 3, the input signal using pending signal as notch filter, using the mechanical resonant frequency as trap
The centre frequency of wave filter, using extremum seeking algorithm, using the width parameter of notch filter and depth parameter as waiting to search
Suo Bianliang, and the output signal amplitude of notch filter is constantly obtained, until the output signal amplitude of notch filter reaches most
It is small；
Step 4, notch filter unit is added in the controller, by notch filter during output signal amplitude minimum
Width parameter and depth parameter respectively as notch filter unit width parameter and depth parameter, by the mechanical resonant frequency
Centre frequency of the rate as notch filter unit, and electromechanical servo system is controlled by the controller.
As preferably, step 1 is using filtered controller output voltage signal or load displacement signal as waiting to locate
Manage signal.
As preferably, step 2 centre frequency of bandpass filter when to output signal amplitude maximum is filtered
Afterwards, as the mechanical resonant frequency.
As preferably, the width parameter and depth of notch filter of the step 4 when to output signal amplitude minimum
After parameter is filtered, using the two as the width parameter and depth parameter of notch filter unit.
As preferably, step 2 obtains the output signal amplitude of bandpass filter by Hilbert transform mode.
As preferably, the Hilbert transform mode of step 2 is：First pass through original of the integral element to bandpass filter
Output signal carries out 90 ° of phase shifts, then the change of the amplitude of the original output signal caused by integral element is compensated.
As preferably, step 3 obtains the output signal amplitude of notch filter by way of Hilbert transform.
As preferably, the Hilbert transform mode of step 3 is：By the original output signal time delay four of notch filter
/ mono- cycle.
The mechanical resonant suppressing method of electromechanical servo system of the present invention based on extremum seeking algorithm, extreme value is searched
Rope algorithm introduces the design of adaptive notch filter.The output signal of the mechanical resonant suppressing method based on bandpass filter
Amplitude builds cost function, and the identification problem of mechanical resonant frequency is converted into the maximum of bandpass filter output signal amplitude
Search problem, cost function is built based on notch filter output signal amplitude, resonance suppression problem is converted into notch filter
The minimum search problem of device output signal amplitude, by the width parameter and depth of notch filter during output signal amplitude minimum
The width parameter, depth parameter and centre frequency of parameter and the mechanical resonant frequency that recognizes as notch filter unit, and
Electromechanical servo system is controlled by the controller of interior trapping ripple filter unit, so as to suppress the machinery of electromechanical servo system
Resonance.
Compared with the existing mechanical resonant suppressing method based on harmonic detecting adaptive notch filter, machinery of the present invention
For resonance suppressing method because introducing extremum seeking algorithm and amount of calculation is small, real-time is high.In addition, due to machine of the present invention
The amount of calculation of tool resonance suppressing method is small so that realizes the structure phase of the functional device of mechanical resonant suppressing method of the present invention
To simple, therefore requirement of the mechanical resonant suppressing method of the present invention to related hardware is relatively low.
Brief description of the drawings
Hereinafter by based on embodiment and refer to the attached drawing come to the electromechanics of the present invention based on extremum seeking algorithm
The mechanical resonant suppressing method of servo-drive system is described in more detail, wherein：
Fig. 1 is the theory diagram for the disturbance extremum seeking algorithm that background technology refers to；
Fig. 2 is the stream of the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm described in embodiment
Cheng Tu；
Fig. 3 is the oscillogram of the output voltage signal of the table servo system controller after filtering process, in the figure, is indulged
Coordinate dimensionless, table energy；
Fig. 4 be using the output voltage signal of filtered table servo system controller as during pending signal, identification
The oscillogram of frequency signal；
Fig. 5 is the output voltage signal oscillogram of the table servo system controller before mechanical resonant suppresses；
Fig. 6 is the output voltage signal oscillogram of the table servo system controller after mechanical resonant suppresses；
Fig. 7 be using the output DA signals of table servo system controller as during pending signal, recognize frequency signal
Oscillogram；
Fig. 8 is the output DA signal waveforms of the table servo system controller before mechanical resonant suppresses, and in the figure, is indulged
Coordinate dimensionless, table energy；
Fig. 9 is the output DA signal waveforms of the table servo system controller after mechanical resonant suppresses, and in the figure, is indulged
Coordinate dimensionless, table energy.
Embodiment
Mechanical resonant below in conjunction with accompanying drawing to the electromechanical servo system of the present invention based on extremum seeking algorithm
Suppressing method is described further.
Embodiment：The present embodiment is explained with reference to Fig. 2 to Fig. 9.
The mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm described in the present embodiment is based on band
The controller of bandpass filter, notch filter and electromechanical servo system is realized；
The mechanical resonant suppressing method includes：
Step 1, using the output voltage signal of the controller or the displacement signal of load as pending signal；
Step 2, the input signal using pending signal as bandpass filter, using extremum seeking algorithm, band logical is filtered
The centre frequency of ripple device constantly obtains the output signal amplitude of bandpass filter as variable to be searched, until bandpass filtering
The output signal amplitude of device reaches maximum, and now the centre frequency of bandpass filter is the mechanical resonant frequency of electromechanical servo system
Rate；
Step 3, the input signal using pending signal as notch filter, using the mechanical resonant frequency as trap
The centre frequency of wave filter, using extremum seeking algorithm, using the width parameter of notch filter and depth parameter as waiting to search
Suo Bianliang, and the output signal amplitude of notch filter is constantly obtained, until the output signal amplitude of notch filter reaches most
It is small；
Step 4, notch filter unit is added in the controller, by notch filter during output signal amplitude minimum
Width parameter and depth parameter respectively as notch filter unit width parameter and depth parameter, by the mechanical resonant frequency
Centre frequency of the rate as notch filter unit, and electromechanical servo system is controlled by the controller.
The step 1 of the present embodiment is using filtered controller output voltage signal or load displacement signal as pending letter
Number.
The step 2 of the present embodiment is after the centre frequency of bandpass filter is filtered when to output signal amplitude maximum,
As the mechanical resonant frequency.
The width parameter and depth parameter of notch filter of the step 4 of the present embodiment when to output signal amplitude minimum
After being filtered, using the two as the width parameter and depth parameter of notch filter unit.
The output that the step 2 and step 3 of the present embodiment obtain bandpass filter by Hilbert transform mode respectively is believed
The output signal amplitude of number amplitude and notch filter.
The Hilbert transform mode that the step 2 of the present embodiment uses for：Integral element is first passed through to bandpass filter
Original output signal carries out 90 ° of phase shifts, then the change of the amplitude of the original output signal caused by integral element is compensated, with simulation
Preferable 90 ° of phase shifts.
Due to centre frequency of the step 3 using the mechanical resonant frequency of electromechanical servo system as notch filter, therefore should
The Hilbert transform mode that step uses for：By the original output signal time delay a quarter cycle of notch filter, with simulation
Preferable 90 ° of phase shifts.
The following detailed description of the principle of the step 2 of the present embodiment：
The transmission function of bandpass filter is：
In formula, ωbIt is bandpass filter gain peak for band logical frequency center point, ξ is height parameter, represents center
Amplitude-frequency gain at frequency.The signal of the single-frequency of one determination is by bandpass filter, only when in bandpass filter
When frequency of heart is equal to the frequency of the signal, the amplitude maximum of bandpass filter output signal.
The resonant frequency of electromechanical servo system is recognized using extremum seeking algorithm：The pending signal of acquisition is defeated
Enter bandpass filter, the centre frequency of the bandpass filter is the variable to be searched of extremum seeking algorithm, the bandpass filter
Output signal amplitude is the output of extremum seeking algorithm.The extremum seeking algorithm is carried out according to predetermined adjusting parameter to variable
Search.When the centre frequency of bandpass filter and the consistent mechanical resonant frequency of electromechanical servo system, bandpass filter output
The amplitude of signal is up to maximum, and the centre frequency of bandpass filter during output signal amplitude maximum is electromechanical servo system
Mechanical resonant frequency.
The following detailed description of the principle of the step 3 of the present embodiment：
Two conjugation complex poles in electromechanical servo system transmission function are offset using the zero point of notch filter to eliminate
Mechanical resonant.Notch filter has extraordinary frequency characteristic, and being only provided about larger amplitude in trap centre frequency declines
Subtract, and other Frequency points are influenceed smaller.
The transmission function of notch filter is：
In formula, f is trap frequency central point, is notch filter gain minimum point.k1For width parameter, refer to that trap is filtered
Difference of the ripple device amplitude attenuation to former and later two Frequency points during -3dB.ξ1For depth parameter, represent that the amplitude-frequency at centre frequency increases
Benefit decay, can provide -20lg at centre frequency | ξ1| dB amplitude attenuation.Notch filter is exactly by adjusting these three ginsengs
What number was realized.
In order to realize the purpose for suppressing mechanical resonant, the pending signal of acquisition is inputted into notch filter, trap filter
The mechanical resonant frequency for the electromechanical servo system that the centre frequency f of ripple device is directly obtained using step 2.The depth of the notch filter
Spend parameter ξ1With width parameter k1Variable to be searched is used as, chooses the output signal amplitude of notch filter as cost function,
When the output signal amplitude of notch filter reaches minimum, variable ξ to be searched1And k1Adjust completion.
The mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm described in the present embodiment can be
The identification to the mechanical resonant frequency of electromechanical servo system is completed in 1s and identification error is within 1Hz.
The mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm described in the present embodiment can be
The mechanical resonant frequency of identification electromechanical servo system and its mechanical resonant of suppression, resonance peak can significantly be decayed, obtain in 2s
Smooth plant characteristic curve.
Compared with existing mechanical resonant suppressing method, the electromechanical servo based on extremum seeking algorithm described in the present embodiment
The mechanical resonant suppressing method of system is weak to the dependence of artificial experience.As a kind of self-adapting resonance suppressing method, this implementation
Mechanical resonant suppressing method described in example can automatically adjust each link parameter, and because extremum seeking algorithm is simple in construction,
Amount of calculation is small, can ensure the real-time of system well.
Using the mechanical resonant suppressing method pair of the electromechanical servo system based on extremum seeking algorithm described in the present embodiment
Table servo system carries out mechanical resonant and suppresses emulation experiment：
Electromechanical servo system model with resonance is established according to the structure of table servo system, and then obtains the electromechanics and watches
The resonant transfer function of dress system model：
In formula, ωaFor mechanical resonant frequency, ωnFor anti-mechanical resonant frequency.
Because the shearing frequency of table servo system is usually less than 50Hz, the frequency dot gains more than 120Hz are very small, i.e.,
Just there is resonance, amplitude also can be very low.Therefore emulation experiment only focuses on the shearing frequency to the Frequency point between 120Hz.
After the frequency spectrum of these key frequency points is calculated, it is resonance point to determine amplitude highest Frequency point.If this is humorous
The amplitude shaken a little is higher than threshold value, illustrates that system resonance needs to suppress.
Assuming that ωn=300rad/s, ωa=300rad/s, a=200, b=2, is obtained
Take table servo system open loop pass letter be：
Wherein Tet、Tmt、KmRespectively electrical time constant, mechanical time constant and proportionality coefficient.
Set TeT=0.0027s, TmT=0.1326s and Km=96.15, obtain the table servo system with resonance
Open-loop transfer function：
In control loop, the output voltage signal of table servo system controller is taken to obtain pending letter after being filtered
Number, the oscillogram of the signal is as shown in Figure 3.
The mechanical resonant frequency of table servo system is recognized using extremum seeking algorithm, the frequency signal recognized
Waveform recognizes mechanical resonant frequency, Identification Errors are in 1Hz in this emulation as shown in figure 4, it can be seen from Fig. 4 in 1.5s
Within.
, it is necessary to design the parameter of certain rule adjustment multivariable extremum seeking algorithm in emulation experiment, choose respectively not
Excitation of the disturbance of same frequency as different variables, to prevent interfering between different variables.
Fig. 5 is the output voltage signal oscillogram of the table servo system controller before mechanical resonant suppresses.
Fig. 6 is the output voltage signal oscillogram of the table servo system controller after mechanical resonant suppresses.
Preferably suppress effect by the way that by Fig. 5 and Fig. 6, the mechanical resonant suppressing method described in the present embodiment obtains
Fruit.
The DA signals of table servo system controller have also been carried out emulation experiment by the present embodiment as pending signal：
The input slope instruction of turntable is arranged to 10 °/s, table servo system controller under closed loop states is gathered and exports
DA signals.
The table servo system resonance frequencies are recognized using extremum seeking algorithm result as shown in fig. 7, according to
Fig. 7 is understood：Resonant frequency is recognized in 1s.Resonance peak is understood about in 80Hz by carrying out fft analysis to original signal, therefore,
The Identification Errors of emulation experiment are within 1Hz.
Fig. 8 is the output DA signal waveforms of the table servo system controller before mechanical resonant suppresses.
Fig. 9 is the output DA signal waveforms of the table servo system controller after mechanical resonant suppresses.
Pass through comparison diagram 8 and Fig. 9：After mechanical resonant suppression is carried out, the resonance peak at 80Hz or so places is being schemed in Fig. 8
Disappeared in 9, further related to the mechanical resonant suppressing method described in the present embodiment and obtained preferable inhibition.
Although the present invention is described herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that exemplary embodiment can be permitted
More modifications, and can be designed that other arrangements, the spirit of the invention limited without departing from appended claims and
Scope.It should be understood that different appurtenances can be combined by way of different from described by original claim
It is required that and feature specifically described herein.It will also be appreciated that the feature with reference to described by separate embodiments can be used at it
In his embodiment.
Claims (8)
1. the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm, it is characterised in that the machinery is humorous
Controller of the suppressing method based on bandpass filter, notch filter and electromechanical servo system that shake is realized；
The mechanical resonant suppressing method includes：
Step 1, using the output voltage signal of the controller or the displacement signal of load as pending signal；
Step 2, the input signal using pending signal as bandpass filter, using extremum seeking algorithm, by bandpass filter
Centre frequency as variable to be searched, and the output signal amplitude of bandpass filter is constantly obtained, until bandpass filter
Output signal amplitude reaches maximum, and now the centre frequency of bandpass filter is the mechanical resonant frequency of electromechanical servo system；
Step 3, the input signal using pending signal as notch filter, using the mechanical resonant frequency as notch filter
The centre frequency of device, using extremum seeking algorithm, using the width parameter of notch filter and depth parameter as change to be searched
Amount, and the output signal amplitude of notch filter is constantly obtained, until the output signal amplitude of notch filter reaches minimum；
Step 4, notch filter unit is added in the controller, by the width of notch filter during output signal amplitude minimum
Parameter and depth parameter are spent respectively as the width parameter and depth parameter of notch filter unit, and the mechanical resonant frequency is made
For the centre frequency of notch filter unit, and electromechanical servo system is controlled by the controller.
2. the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm as claimed in claim 1, it is special
Sign is that step 1 is using filtered controller output voltage signal or load displacement signal as pending signal.
3. the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm as claimed in claim 2, it is special
Sign is, step 2 is after the centre frequency of bandpass filter is filtered when to output signal amplitude maximum, as described
Mechanical resonant frequency.
4. the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm as claimed in claim 3, it is special
Sign is, after the width parameter and depth parameter of notch filter of the step 4 when to output signal amplitude minimum are filtered,
Using the two as the width parameter and depth parameter of notch filter unit.
5. the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm as claimed in claim 4, it is special
Sign is that step 2 obtains the output signal amplitude of bandpass filter by Hilbert transform mode.
6. the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm as claimed in claim 5, it is special
Sign is that the Hilbert transform mode of step 2 is：Integral element is first passed through to carry out the original output signal of bandpass filter
90 ° of phase shifts, then the change of the amplitude of the original output signal caused by integral element is compensated.
7. the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm as claimed in claim 6, it is special
Sign is that step 3 obtains the output signal amplitude of notch filter by way of Hilbert transform.
8. the mechanical resonant suppressing method of the electromechanical servo system based on extremum seeking algorithm as claimed in claim 7, it is special
Sign is that the Hilbert transform mode of step 3 is：By the original output signal time delay a quarter cycle of notch filter.
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| CN107203130B (en) * | 2017-06-06 | 2019-12-17 | 哈尔滨工大航博科技有限公司 | simulation turntable model parameter identification method based on extremum search control |
| CN108594641A (en) * | 2018-04-10 | 2018-09-28 | 天津大学 | Inhibit the method for servo resonance based on the asymmetric notch filter of centre frequency |
| CN108594641B (en) * | 2018-04-10 | 2021-05-28 | 天津大学 | Method for restraining servo resonance based on notch filter with asymmetric center frequency |
| CN109687788A (en) * | 2018-12-27 | 2019-04-26 | 浙江工业大学 | A kind of control method of dual feedback wind power generation system Speedless sensor |
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