CN109412493A - A kind of AC servo and its resonance control method - Google Patents
A kind of AC servo and its resonance control method Download PDFInfo
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- CN109412493A CN109412493A CN201811237163.6A CN201811237163A CN109412493A CN 109412493 A CN109412493 A CN 109412493A CN 201811237163 A CN201811237163 A CN 201811237163A CN 109412493 A CN109412493 A CN 109412493A
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- servo
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- resonance frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to a kind of AC servo and its resonance control methods.The AC servo resonance control method includes: the tracking error signal for the input signal for periodically acquiring the AC servo；Judge whether the tracking error signal is in default error range；If it is not, calculating the resonance frequency of the servo-system using adaptive frequency estimator according to the tracking error signal；The parameter of trap filter is adjusted according to the resonance frequency.AC servo provided by the invention and its resonance control method, by the tracking error signal for periodically acquiring input signal, and the resonance frequency of the servo-system is calculated using adaptive frequency estimator when the tracking error signal is not in default error range, and the parameter of the trap filter is adjusted based on resonance frequency adjustment, to quickly timely inhibit resonance.
Description
Technical field
The present invention relates to machine control techniques fields, more particularly to a kind of AC servo and its resonance controlling party
Method.
Background technique
With AC servo application increasingly extensively, various techniques are to the property such as its stability, rapidity and accuracy
More stringent requirements are proposed for energy.It is general that responsiveness is improved by increase position ring and speed ring gain, namely increase rigidity, shorten
Positioning time.But high-gain is easy the resonance of activating system, especially in the system using flexible connection, vibrates more tight
Weight.To inhibit vibration, generally by time domain or the methods of frequency-domain model identification or fast Fourier analysis, offline design is fallen into
Trap filter.But there are the following problems for these methods: in order to guarantee stability and performance, need manually to participate in, it can not be real
Now automatically adjust；FFT transform needs sufficiently large more data to guarantee the precision of frequency, has to the calculating and storage capacity of chip
High requirements, and it is longer to expend the time, and many times resonance frequency frequently changes, according to the calculated resonance frequency of FFT method
Rate may not be the current resonance frequency of AC servo.So industry urgent need one kind being capable of online real-time identification
With the controller design method for inhibiting resonant vibration.
Summary of the invention
Based on this, it is necessary to aiming at the problem that current AC servo quickly can not inhibit resonance in time, provide one kind
AC servo and its resonance control method.
The embodiment of the invention provides a kind of AC servo resonance control methods, comprising:
Periodically acquire the tracking error signal of the input signal of the AC servo；
Judge whether the tracking error signal is in default error range；
If it is not, calculating the servo-system using adaptive frequency estimator according to the tracking error signal
Resonance frequency；
The parameter of trap filter is adjusted according to the resonance frequency.
In some embodiments provided by the invention, the input signal for periodically acquiring the AC servo with
With error signal, comprising:
Periodically acquire the output signal of the servo-system output end；
Calculate the difference of the input signal Yu the output signal, and take the difference as the input signal with
With error signal.
It is described to calculate the servo-system using adaptive frequency estimator in some embodiments provided by the invention
Resonance frequency, comprising:
The resonance frequency of the AC servo is calculated according to preset algebraic normal form using adaptive frequency estimator
Rate.
In some embodiments provided by the invention, the preset algebraic normal form are as follows:
Wherein, the θ is resonance frequency to be estimated, and the y (t) is input signal, and the x is state variable, the ξ
For damped coefficient, described in γ for determine adaptive frequency estimator convergence rate amount.
In some embodiments provided by the invention, the ginseng that the trap filter is adjusted according to the resonance frequency
Number, comprising:
The trap depth value of the trap filter is adjusted according to the resonance frequency.
It is deep in the trap for adjusting the trap filter according to the resonance frequency in some embodiments provided by the invention
After angle value, the AC servo resonance control method further include:
The input signal of the AC servo is obtained after the trap depth value for adjusting the trap filter
Tracking error signal；
Resonance frequency in the judgement tracking error signal after the trap depth value for adjusting the trap filter
Whether corresponding amplitude is in default amplitude range；
When resonance frequency pair in tracking error signal after adjusting the trap depth value of the trap filter
The amplitude answered is not at default amplitude range, increases the trap depth value of the trap filter, and is back to the judgement institute
Whether state in the tracking error signal after the trap depth value for adjusting the trap filter the corresponding amplitude of resonance frequency
The step of in default amplitude range.
In some embodiments provided by the invention, in the tracking error letter for obtaining the input signal of the AC servo
Before number, the AC servo resonance control method further include:
Determine the default coupling stiffness of motor inertia, load inertia and the motor and the load；
According to the motor inertia, the load inertia and the default coupling stiffness, the control of PID controller is set
Parameter.
Based on the same inventive concept, the embodiment of the invention also provides a kind of Exchange Server system, the AC servos
Device system includes:
Obtain module, the tracking error signal of the input signal for periodically acquiring the AC servo；
Judgment module, for judging whether the tracking error signal is in default error range；
Adaptive frequency estimator, for calculating when the tracking error signal is not in default error range
The resonance frequency of the servo-system；
Trap filter, for adjusting the parameter of trap filter according to the resonance frequency.
In some embodiments provided by the invention, the acquisition module is used for:
Periodically acquire the output signal of the servo-system output end；
Calculate the difference of the input signal Yu the output signal, and take the difference as the input signal with
With error signal.
In some embodiments provided by the invention, the adaptive frequency estimator is used for:
When the tracking error signal is not in default error range, calculated by preset algebraic normal form described
The resonance frequency of AC servo；Wherein, the preset algebraic normal form are as follows:
Wherein, the θ is resonance frequency to be estimated, and the y (t) is input signal, and the x is state variable, the ξ
For damped coefficient, described in γ for determine adaptive frequency estimator convergence rate amount.
In some embodiments provided by the invention, the parameter of the trap filter includes the trap of the trap filter
Depth value.
In some embodiments provided by the invention, the acquisition module is also used to obtain the defeated of the AC servo
Enter tracking error signal of the signal after the trap depth value for adjusting the trap filter；
The judgment module is also used to judge the following after the trap depth value for adjusting the trap filter
Whether the corresponding amplitude of resonance frequency is in default amplitude range in error signal；
The trap filter is also used to when the following after adjusting the trap depth value of the trap filter
When the corresponding amplitude of resonance frequency is not at default amplitude range in error signal, increase the trap depth of the trap filter
Value.
In some embodiments provided by the invention, the Exchange Server system further includes controller, for determining motor
The default coupling stiffness of inertia, load inertia and the motor and the load, and according to the motor inertia, described negative
Inertia and the default coupling stiffness are carried, the control parameter of the controller is set.
To sum up, the embodiment of the invention provides a kind of AC servo and its resonance control methods.The AC servo
System resonance control method includes: the tracking error signal for the input signal for periodically acquiring the AC servo；Judgement
Whether the tracking error signal is in default error range；If it is not, according to the tracking error signal, using adaptive
Frequency estimator calculates the resonance frequency of the servo-system；The parameter of trap filter is adjusted according to the resonance frequency.
AC servo provided by the invention and its resonance control method, the tracking error by periodically acquiring input signal are believed
Number, and described watch is calculated using adaptive frequency estimator when the tracking error signal is not in default error range
The resonance frequency of dress system, and adjust based on the resonance frequency adjustment parameter of the trap filter, thus quickly and
When inhibition resonance.
Detailed description of the invention
Fig. 1 is the schematic diagram of influence of the load variation provided in an embodiment of the present invention to resonance frequency；
Fig. 2 is a kind of flow diagram of AC servo resonance control method provided in an embodiment of the present invention；
Fig. 3 is adaptive frequency estimator device block diagram provided in an embodiment of the present invention；
Fig. 4 is resonance frequency identification result schematic diagram of the present invention；
Fig. 5 is the operation principle schematic diagram of AC servo described in the embodiment of the present invention；
Fig. 6 is K in the embodiment of the present inventiondepthThe schematic diagram of influence to trap depth；
Fig. 7 is the flow diagram of another AC servo resonance control method provided in an embodiment of the present invention；
Fig. 8 is a kind of electrical structure schematic diagram of AC servo provided in an embodiment of the present invention.
Drawing reference numeral explanation:
100 obtain module
200 judgment modules
300 adaptive frequency estimators
400 trap filters
500 controllers
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
It should be noted that unless otherwise defined, all technical and scientific terms used herein and belong to this hair
The normally understood meaning of bright those skilled in the art is identical.Term as used herein in the specification of the present invention
It is only for the purpose of describing specific embodiments and is not intended to limit the present invention.Term " and or " used herein packet
Include any and all combinations of one or more related listed items.
Under normal conditions, load inertia changes, and the variation of motor and load coupling stiffness, external disturbance etc. can all cause humorous
Vibration.From motor side input torque to motor and the transmission function of load speed are as follows:
Resonant frequency are as follows:
Antiresonant frequency are as follows:
Wherein, ΘMFor the angle of motor, ΘLFor the angle of load, the JMFor motor inertia, the JLIt is used to load
Amount, KsFor the coupling stiffness of motor and load, BMLFor the viscous damping of connection, T is torque, and s is complex variable.
Referring to Figure 1, by Fig. 1 and above-mentioned formula (1)-(4) as it can be seen that the variation of load inertia and coupling stiffness, not only
Have an impact to the low-frequency gain of model, while influence also is produced on the resonance frequency of system, the AC servo exists
Stronger resonance is generated at 120Hz, is changed with the resonance frequency under load state compared with resonance frequency under light condition.
The variation of resonance frequency caused by changing for AC servo due to load replicates to influence phase margin
The problem of nargin, positioning accuracy and convergence time, the present invention provides a kind of AC servo and its resonance control methods
Fig. 2 is referred to, the embodiment of the invention provides a kind of AC servo resonance control method, the AC servos
System resonance control method includes:
Step S110 periodically acquires the tracking error signal of the input signal of the AC servo；
Step S120, judges whether the tracking error signal is in default error range；If it is not, thening follow the steps
S130；
Step S130 calculates the servo system using adaptive frequency estimator 300 according to the tracking error signal
The resonance frequency of system；
Step S140 adjusts the parameter of trap filter 400 according to the resonance frequency.
In some embodiments provided by the invention, the input signal for periodically acquiring the AC servo with
With error signal, comprising:
Periodically acquire the output signal of the servo-system output end；
Calculate the difference of the input signal Yu the output signal, and take the difference as the input signal with
With error signal.
It is appreciated that connecting motor and motion control card in the present embodiment, uses computer as host computer, open upper
Machine software, 500 parameter of controller being arranged including 400 parameter of trap filter, downloads parameters on motion control card
Chip in.After the completion of the downloading of 500 parameter of controller, the AC servo is enabled, motor closed loop is made.Assuming that in the friendship
The signal for flowing the output end input of servo-system is step signal y0(t), signal step o'clock at 1 second, it is specified that use the period for
0.005 second, acquisition time was 5 seconds, totally 1001 sampled points.Periodically acquisition output displacement signal is y1(t), input is utilized
Step signal y0(t) the displacement signal y of output is subtracted1(t), difference e (t) is obtained, the difference e (t) is the step of the input
Signal y0(t) tracking error signal e (t).It is noted that if the corresponding regulating time of the AC servo is 2 seconds,
Used tracking error signal is the tracking error signal got after 2 seconds when iteration optimization.
It is described to calculate the servo system using adaptive frequency estimator 300 in some embodiments provided by the invention
The resonance frequency of system, comprising:
Using adaptive frequency estimator 300, the humorous of the AC servo is calculated by preset algebraic normal form
Vibration frequency.
Refer to Fig. 3 and Fig. 4, in some embodiments provided by the invention, the preset algebraic normal form are as follows:
Wherein, the θ is resonance frequency to be estimated, and the y (t) is input signal, and the x is state variable, the ξ
For damped coefficient, described in γ for determine adaptive frequency estimator 300 convergence rate amount.In the present embodiment, the y (t)
For the input signal for the resonance frequency for being 120Hz comprising frequency.
It is appreciated that preset algebraic normal form described in the present embodiment is the sum of the product in Boolean function between each vector
Unique expression-form.How the Boolean function has been described in detail according to the step signal y got0(t) and displacement signal y1
(t), the step signal y is obtained0(t) follow signal e (t).And figure 4, it is seen that utilize the AC servo system
Resonance control method of uniting, which can restrain resonance frequency at 0.05, causes 120Hz, improves the convergence rate of resonance frequency.
In some embodiments provided by the invention, the parameter that trap filter 400 is adjusted according to the resonance frequency,
Include:
The trap depth value of trap filter 400 is adjusted according to the resonance frequency.
Refer to Fig. 5, in the present embodiment, the input signal that will acquire follows signal to be respectively supplied to the controller
500 and the adaptive frequency estimator 300, the AC servo is calculated using adaptive frequency estimator 300
Resonance frequency, and the resonance frequency is supplied to trap filter 400.
Wherein, the controller 500 is iterated processing, the control to the multiple tracking error signals got
The transmission function of device 500 are as follows:
Wherein, the KpFor proportional control factor, the KiFor integral control coefficient, the KdFor derivative control coefficient, e
(i) the tracking error signal obtained for i-th.
Further, the signal that controller 500 is exported according to resonance frequency that the trap filter 400 estimates into
Row processing, the transmission function of the trap filter 400 are as follows:
Wherein, ωnFor the centre frequency of trap filter 400, Q is quality coefficient, KdepthFor the trap filter 400
Trap depth value, s is complex variable.Fig. 6 is referred to, from fig. 6 it can be seen that with trap depth value KdepthGradually increasing
Greatly, the amplification factor of the resonance frequency gradually reduces, and phase changing capacity incrementally increases.It therefore can be by increasing institute in the present invention
State trap depth value Kdepth, to reduce the amplification factor of the resonance frequency and change resonance corresponding with the resonance frequency
The phase of wave reduces the amplitude of resonance wave corresponding with the resonance frequency, to reduce the resonance wave to the AC servo
The influence of system.
It is appreciated that being filtered in some embodiments provided by the invention adjusting the trap according to the resonance frequency
After the trap depth value of device 400, further includes:
The input signal of the AC servo is obtained after the trap depth value for adjusting the trap filter 400
Tracking error signal；
Resonance frequency in the judgement tracking error signal after the trap depth value for adjusting the trap filter 400
Whether the corresponding amplitude of rate is in default amplitude range；
When resonance frequency in tracking error signal after adjusting the trap depth value of the trap filter 400
Corresponding amplitude is not at default amplitude range, increases the trap depth value of the trap filter 400, and is back to and described sentences
The corresponding width of resonance frequency in the disconnected tracking error signal after the trap depth value for adjusting the trap filter 400
The step of whether value is in default amplitude range.
It is appreciated that adjusting the trap depth value KdepthAfter, it needs further to judge described described sunken in adjustment
Whether the corresponding amplitude of resonance frequency is in default amplitude in tracking error signal after the trap depth value of trap filter 400
Range.If the corresponding amplitude of resonance frequency is in default amplitude range in the tracking error signal, illustrate the exchange
Influence of the resonance wave to the AC servo in servo-system can be ignored., whereas if the tracking error signal
The corresponding amplitude of middle resonance frequency has exceeded default amplitude range, then illustrates the resonance wave in the AC servo to described
AC servo is affected, and needs to re-evaluate the current resonance frequency of the AC servo, and according to again
The resonance frequency adjustment trap depth value K estimateddepth, and finally make the resonance wave in the AC servo corresponding
Amplitude is within default amplitude range, and influence of the elimination resonance to AC servo as far as possible guarantees that the exchange is watched
The stability and accuracy of dress system.
In some embodiments provided by the invention, in the tracking error letter for obtaining the input signal of the AC servo
Before number, the AC servo resonance control method further include:
Determine the default coupling stiffness of motor inertia, load inertia and the motor and the load；
According to the motor inertia, the load inertia and the default coupling stiffness, the control of controller 500 is set
Parameter.
It is appreciated that being needed first really before 500 parameter of controller being arranged including 400 parameter of trap filter
It is fixed
The default coupling stiffness of motor inertia, load inertia and the motor and the load, then user can basis
The control parameter of the motor inertia, the load inertia and the default coupling stiffness setting controller 500, so that control
After the completion of 500 parameter of device downloading processed, the AC servo is enabled, motor closed loop is made.
Refer to Fig. 7, in some embodiments provided by the invention, the AC servo resonance control method includes:
Step S210 is obtained and is determined that the default connection of motor inertia, load inertia and the motor and the load is rigid
Degree.
Controller is arranged according to the motor inertia, the load inertia and the default coupling stiffness in step S220
500 control parameter and the parameter of trap filter 400.
Step S230 periodically acquires the tracking error signal of the input signal of the AC servo.
Step S240, judges whether the tracking error signal is in default error range.If so, operation is terminated, it is complete
It is arranged at trap filtering parameter；If it is not, thening follow the steps S250.
Step S250, according to the tracking error signal, using adaptive frequency estimator 300 according to preset algebra model
Formula calculates the resonance frequency of the AC servo.
Step S260 adjusts the trap depth value of the trap filter 400 according to the calculated resonance frequency.
Step S270 obtains the input signal of the AC servo in the trap for adjusting the trap filter 400
Tracking error signal after depth value.
Step S280, the judgement tracking error signal after the trap depth value for adjusting the trap filter 400
Whether the corresponding amplitude of middle resonance frequency is in default amplitude range.If so, terminating calculating process, trap filtering parameter is completed
Setting.Conversely, executing step S290.
Step S290, increases the trap depth value of the trap filter 400, and is back to the step S280, until
The corresponding amplitude of resonance frequency in the tracking error signal after the trap depth value for adjusting the trap filter 400
In default amplitude range.
Based on the same inventive concept, the embodiment of the invention also provides a kind of Exchange Server system, Fig. 8 is referred to, institute
Stating Exchange Server system includes obtaining module 100, judgment module 200, adaptive frequency estimator 300 and trap filter
400。
The tracking error letter for obtaining module 100 and being used to periodically acquire the input signal of the AC servo
Number.The judgment module 200 is for judging whether the tracking error signal is in default error range.The adaptive frequency
Rate estimator 300 is used for when the tracking error signal is not in default error range, calculates the servo-system
Resonance frequency.The trap filter 400 is used to adjust the parameter of trap filter 400 according to the resonance frequency.
In some embodiments provided by the invention, the acquisition module 100 is specifically used for:
Periodically acquire the output signal of the servo-system output end；
Calculate the difference of the input signal Yu the output signal, and take the difference as the input signal with
With error signal.
It is appreciated that connecting motor and motion control card in the present embodiment, uses computer as host computer, open upper
Machine software, 500 parameter of controller being arranged including 400 parameter of trap filter, downloads parameters on motion control card
Chip in.After the completion of the downloading of 500 parameter of controller, the AC servo is enabled, motor closed loop is made.Assuming that in the friendship
The signal for flowing the output end input of servo-system is step signal y0(t), signal step o'clock at 1 second, it is specified that use the period for
0.005 second, acquisition time was 5 seconds, totally 1001 sampled points.Periodically acquisition output displacement signal is y1(t), input is utilized
Step signal y0(t) the displacement signal y of output is subtracted1(t), difference e (t) is obtained, the difference e (t) is then the rank of the input
Jump signal y0(t) tracking error signal e (t).It is noted that if the corresponding regulating time of the AC servo is 2 seconds,
Then used tracking error signal is the tracking error signal got after 2 seconds when iteration optimization.
In some embodiments provided by the invention, the adaptive frequency estimator 300 is used for:
When the tracking error signal is not in default error range, calculated by preset algebraic normal form described
The resonance frequency of AC servo；Wherein, the preset algebraic normal form are as follows:
Wherein, the θ is resonance frequency to be estimated, and the y (t) is input signal, and the x is state variable, the ξ
For damped coefficient, described in γ for determine adaptive frequency estimator 300 convergence rate amount.In the present embodiment, the y (t)
For the input signal for the resonance frequency for being 120Hz comprising frequency.
In some embodiments provided by the invention, the parameter of the trap filter 400 includes the trap filter 400
Trap depth value.
In some embodiments provided by the invention, the acquisition module 100 is also used to obtain the AC servo
Tracking error signal of the input signal after the trap depth value for adjusting the trap filter 400.
The judgment module 200 is also used to judge described after the trap depth value for adjusting the trap filter 400
Tracking error signal in the corresponding amplitude of resonance frequency whether be in default amplitude range.
The trap filter 400 is also used to when described after adjusting the trap depth value of the trap filter 400
Tracking error signal in resonance frequency corresponding amplitude when being not at default amplitude range, increase the trap filter 400
Trap depth value.
In some embodiments provided by the invention, the Exchange Server system further includes controller 500, for determining electricity
The default coupling stiffness of machine inertia, load inertia and the motor and the load, and according to the motor inertia, described
Load inertia and the default coupling stiffness, are arranged the control parameter of the controller 500.
In the present embodiment, during AC servo work, the input signal that will acquire follows signal
It is respectively supplied to the controller 500 and the adaptive frequency estimator 300, is calculated using adaptive frequency estimator 300
The resonance frequency of the AC servo out, and the resonance frequency is supplied to trap filter 400.
Wherein, the controller 500 is iterated processing, the control to the multiple tracking error signals got
The transmission function of device 500 are as follows:
Wherein, the KpFor proportional control factor, the KiFor integral control coefficient, the KdFor derivative control coefficient, e
(i) the tracking error signal obtained for i-th.
Further, at the signal that the trap filter 400 is exported according to resonance frequency and controller 500
Reason, the transmission function of the trap filter 400 are as follows:
Wherein, ωnFor the centre frequency of trap filter 400, Q is quality coefficient, KdepthFor the trap filter 400
Trap depth value, s is complex variable.Fig. 7 is referred to, it can be seen from figure 7 that with trap depth value KdepthGradually increasing
Greatly, the amplification factor of the resonance frequency gradually reduces, and phase changing capacity incrementally increases.It therefore can be by increasing institute in the present invention
State trap depth value Kdepth, to reduce the amplification factor of the resonance frequency and change resonance corresponding with the resonance frequency
The phase of wave reduces the amplitude of resonance wave corresponding with the resonance frequency, to reduce the resonance wave to the AC servo
The influence of system.
To sum up, the embodiment of the invention provides a kind of AC servo and its resonance control methods.The AC servo
System resonance control method includes: the tracking error signal for the input signal for periodically acquiring the AC servo；Judgement
Whether the tracking error signal is in default error range；If it is not, according to the tracking error signal, using adaptive
Frequency estimator 300 calculates the resonance frequency of the servo-system；Trap filter 400 is adjusted according to the resonance frequency
Parameter.AC servo provided by the invention and its resonance control method follow mistake by periodically acquire input signal
Difference signal, and be to be not in default error range to calculate using adaptive frequency estimator 300 in the tracking error signal
The resonance frequency of the servo-system out, and the parameter based on the resonance frequency adjustment adjustment trap filter 400,
To quickly timely inhibit resonance.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (13)
1. a kind of AC servo resonance control method characterized by comprising
Periodically acquire the tracking error signal of the input signal of the AC servo；
Judge whether the tracking error signal is in default error range；
If it is not, calculating the servo-system using adaptive frequency estimator (300) according to the tracking error signal
Resonance frequency；
The parameter of trap filter (400) is adjusted according to the resonance frequency.
2. AC servo resonance control method as described in claim 1, which is characterized in that it is described periodically acquire it is described
The tracking error signal of the input signal of AC servo, comprising:
Periodically acquire the output signal of the servo-system output end；
The difference of the input signal Yu the output signal is calculated, and take the difference as the input signal follows mistake
Difference signal.
3. AC servo resonance control method as described in claim 1, which is characterized in that described to utilize adaptive frequency
Estimator (300) calculates the resonance frequency of the servo-system, comprising:
The resonance frequency of the AC servo is calculated according to preset algebraic normal form using adaptive frequency estimator (300)
Rate.
4. AC servo resonance control method as claimed in claim 3, which is characterized in that the preset algebraic normal form
Are as follows:
Wherein, the θ is resonance frequency to be estimated, and the y (t) is input signal, and the x is state variable, and the ξ is resistance
Buddhist nun's coefficient, described in γ for determine adaptive frequency estimator (300) convergence rate amount.
5. AC servo resonance control method as described in claim 1, which is characterized in that described according to the resonance frequency
Rate adjusts the parameter of the trap filter (400), comprising:
The trap depth value of the trap filter (400) is adjusted according to the resonance frequency.
6. AC servo resonance control method as claimed in claim 5, which is characterized in that according to the resonance frequency
After the trap depth value for adjusting the trap filter (400), further includes:
The input signal of the AC servo is obtained after the trap depth value for adjusting the trap filter (400)
Tracking error signal；
Resonance frequency in the judgement tracking error signal after the trap depth value for adjusting the trap filter (400)
Whether corresponding amplitude is in default amplitude range；
When resonance frequency pair in tracking error signal after adjusting the trap depth value of the trap filter (400)
The amplitude answered is not at default amplitude range, increases the trap depth value of the trap filter (400), and is back to and described sentences
Resonance frequency is corresponding in the disconnected tracking error signal after the trap depth value for adjusting the trap filter (400)
The step of whether amplitude is in default amplitude range.
7. AC servo resonance control method as described in claim 1, which is characterized in that obtaining the AC servo
Before the tracking error signal of the input signal of system, further includes:
Determine the default coupling stiffness of motor inertia, load inertia and the motor and the load；
According to the motor inertia, the load inertia and the default coupling stiffness, the control ginseng of controller (500) is set
Number.
8. a kind of Exchange Server system characterized by comprising
It obtains module (100), the tracking error signal of the input signal for periodically acquiring the AC servo；
Judgment module (200), for judging whether the tracking error signal is in default error range；
Adaptive frequency estimator (300), for calculating when the tracking error signal is not in default error range
The resonance frequency of the servo-system；
Trap filter (400), for adjusting the parameter of trap filter (400) according to the resonance frequency.
9. Exchange Server system as claimed in claim 8, which is characterized in that the acquisition module (100) is used for:
Periodically acquire the output signal of the servo-system output end；
The difference of the input signal Yu the output signal is calculated, and take the difference as the input signal follows mistake
Difference signal.
10. Exchange Server system as claimed in claim 8, which is characterized in that the adaptive frequency estimator (300) is used
In:
When the tracking error signal is not in default error range, the exchange is calculated by preset algebraic normal form
The resonance frequency of servo-system；Wherein, the preset algebraic normal form are as follows:
Wherein, the θ is resonance frequency to be estimated, and the y (t) is input signal, and the x is state variable, and the ξ is resistance
Buddhist nun's coefficient, described in γ for determine adaptive frequency estimator (300) convergence rate amount.
11. Exchange Server system as claimed in claim 8, which is characterized in that the parameter packet of the trap filter (400)
Include the trap depth value of the trap filter (400).
12. Exchange Server system as claimed in claim 11, which is characterized in that
The acquisition module (100), the input signal for being also used to obtain the AC servo are adjusting the trap filtering
Tracking error signal after the trap depth value of device (400)；
The judgment module (200) is also used to judge described after the trap depth value for adjusting the trap filter (400)
Tracking error signal in the corresponding amplitude of resonance frequency whether be in default amplitude range；
The trap filter (400) is also used to when described after adjusting the trap depth value of the trap filter (400)
Tracking error signal in resonance frequency corresponding amplitude when being not at default amplitude range, increase the trap filter
(400) trap depth value.
13. Exchange Server system as claimed in claim 8, which is characterized in that further include controller (500), for determining
The default coupling stiffness of motor inertia, load inertia and the motor and the load, and according to the motor inertia, institute
Load inertia and the default coupling stiffness are stated, the control parameter of the controller (500) is set.
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