CN109474222B - Variable load servo system vibration suppression method and system based on notch filter - Google Patents
Variable load servo system vibration suppression method and system based on notch filter Download PDFInfo
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Abstract
The invention provides a variable load servo system vibration suppression method and system based on a notch filter, wherein the method comprises the following steps: directly starting from a time domain model of a servo system, analyzing real-time position data returned by a position sensor, preferentially using the time difference of two nearest extreme points when the residual vibration starts to vibrate to analyze the vibration center frequency, configuring a notch filter, and then correcting the center frequency by the time difference of adjacent extreme points after vibration. The invention has the beneficial effects that: the time domain analysis method adopted by the technical scheme can quickly detect the change of the central frequency, the central frequency can be obtained in one period after the vibration is generated due to the change of the load, the real-time performance is strong, the filter parameters and the central frequency are corrected in real time according to the subsequent vibration condition, the excellent filtering effect can be obtained, and the vibration suppression method is simple, convenient and high in real-time performance under the condition of variable load.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a variable load servo system vibration suppression method and system based on a notch filter.
Background
The servo system is an important component of industrial automation and is a necessary way for realizing accurate positioning and accurate movement in the automation industry. The servo system can make the position, speed, torque and other output parameters of the system terminal actuator accurately follow the input quantity change.
In recent years, the ac servo technology has been developed rapidly and has excellent performance, and is gradually becoming a main super product of the servo. However, in practical use, the rapidity and the positioning accuracy of the system cannot be considered at the same time, and in systems requiring higher rapidity, the steady-state accuracy of some systems is usually sacrificed, and the system has a larger overshoot or even a buffeting phenomenon. For example, if the chattering phenomenon is severe, the end robot of the robot arm cannot work at all in the end robot in the servo robot arm system.
The positioning buffeting phenomenon causes the bandwidth of a servo system to be narrowed, the positioning stability is reduced, and designers are forced to reduce the servo gain, so that the rigidity of the servo system is lowered, the response time is prolonged, and the performances of track tracking and high-speed positioning of the servo system are influenced. The positioning tail end buffeting on the high-precision machine tool can seriously affect the surface quality of a machined workpiece and damage the machine tool and the like. Long-term effects can also cause wear of the mechanical coupling, which can lead to production accidents in the severe case. Therefore, the suppression of the positioning jitter of the servo system is a key common technology in the field of motor driving, and has very important significance for improving the stability of the servo system and the dynamic response quality of the system.
There is a control method for suppressing vibration of a motor (CN105375850B) similar to the disclosed patent, and the method of the patent is: firstly, sampling the whole rotation of the motor, firstly storing a sampling result in a buffer area, then performing fast Fourier transform on the stored sampling result, and converting the sampling result to a frequency domain, thereby facilitating analysis; then using the average value omega of the vibration frequency of the motor rotating speed0On the basis, the surrounding frequencies are analyzed simultaneously, the sizes of different conditions are calculated according to the amplitudes of the different conditions, and filter parameters meeting the actual engineering requirements are designed according to the central frequency so as to achieve the purpose of suppressing the vibration tail end; and finally, analyzing the amplitude-frequency characteristic after the filter is designed, and judging whether the vibration suppression condition meets the actual requirement. If the requirements are met, finishing the configuration of the filter; if the requirement is not met, analyzing the reason, most probably because the vibration center frequency is not completely attenuated due to the fact that the filter parameter is not properly valued, returning to re-sampling and configuring the filter.
The existing method aims at the condition that the load is not changed, when the load is changed, the vibration center frequency is changed, and the filter needs to be reconfigured, however, in the practical process, the filter is configured off-line, the specific configuration process is performed after the vibration, and the method cannot be used under the condition of variable load.
The fast Fourier transform technology converts signals from a time domain to a frequency domain, the result is very intuitive, the frequency is convenient to analyze, but the Fourier transform needs a certain amount of basic data to obtain an accurate frequency spectrum, in the practical process, the high-speed state of a motor in a mechanical arm servo system is transformed, the real-time requirement is high, if the sampling analysis is performed first, the data in the previous period are brought into the data in the later period after the sampling analysis is finished, and due to the real-time change of the load, sufficient data needed by the Fourier transform cannot be supported, so the method for designing the notch filter by adopting the Fourier transform analysis parameters is not feasible under the condition of variable load.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method and a system for suppressing vibration of a variable load servo system based on a notch filter, and the method for suppressing vibration of a variable load servo system based on a notch filter mainly comprises the following steps:
s101: modeling an elastic connecting device of a servo system needing vibration suppression to obtain a servo system model; a position sensor for measuring the amplitude of the system is arranged in the servo system;
s102: acquiring amplitude data of a position sensor in a servo system;
s103: is there residual vibration present in the system determined from the amplitude data? If yes, go to step S104; otherwise, returning to the step S102;
s104: designing a notch filter according to a servo system model, and restraining the residual vibration of the servo system by using the designed notch filter; the initial center frequency of the residual vibration of the servo system is omega0Calculated according to the amplitude data;
s105: acquiring amplitude data of the servo system after residual vibration suppression by using a position sensor; and determine whether there is residual vibration in the current servo system based on amplitude data of the servo system after vibration suppression? If yes, go to step S106; otherwise, returning to the step S102;
s106: calculating to obtain a first center frequency omega 'of residual vibration of the servo system after vibration suppression according to the amplitude data of the servo system after vibration suppression'0；
S107: according to ω'0And ω0Updating parameters of the notch filter on line;
s108: is the servo system stopped? If yes, go to step S109; otherwise, the updated notch filter is used for restraining the residual vibration of the system again, and the step S107 is returned;
s109: the residual vibration suppressing routine is ended.
Further, in step S101, a transfer function between load rotation speeds of the motors of the servo system model is as shown in formula (1):
in the above formula, J2Is the moment of inertia of the load; theta1Is the rotation angle of the rotating shaft of the motor; theta2Is a load corner; k is the torsional elasticity coefficient of the transmission shaft.
Further, in step S103, the method for determining whether the system has residual vibration according to the amplitude data includes: acquiring a maximum amplitude Hmax in the amplitude data; determine whether condition Hmax ≧ x is satisfied? If yes, judging that residual vibration exists; otherwise, judging that residual vibration does not exist; wherein x is greater than 0, is a vibration threshold value and is a preset value.
Further, in step S104, the transfer function of the designed notch filter is as shown in equation (2):
in the above formula, the first and second carbon atoms are,
k1is the notch width, k2In order to obtain the depth of the notch,
k1＝5k2，ω0calculating and obtaining the initial central frequency of the residual vibration of the servo system according to the amplitude data; omega1And ω2Respectively the start and end suppression frequencies, omega, of the notch filter1And ω2With respect to ω0Left-right symmetry, wherein the initial notch width k1Is composed of
Initial notch depth k2Is composed of
Initial omega2And ω1According to the initial k1And k2And (6) obtaining.
Further, the method for calculating and obtaining the center frequency of the residual vibration of the servo system according to the amplitude data comprises the following steps:
s201: obtaining a displacement time relation graph of the vibration of the servo system according to the amplitude data of the position sensor; and obtaining the maximum wave peak appearance time t of the amplitude according to the displacement time relation diagram1And the time t when the second largest peak appears2；
S202: according to t1And t2Calculating to obtain the vibration center frequency omega of the servo system by adopting a frequency calculation formula0(ii) a The calculation formula is shown in formula (3):
further, in step S105, the method for determining whether the residual vibration exists in the current servo system according to the amplitude data of the servo system after vibration suppression includes:
acquiring a maximum amplitude Hmax1 in amplitude data of the servo system after vibration suppression; determine whether condition Hmax1 ≧ x? If yes, judging that residual vibration exists; otherwise, judging that residual vibration does not exist; wherein x is greater than 0, is a vibration threshold value and is a preset value.
Further, in step S107, according to the first center frequency ω'0And an initial center frequency ω0The method for updating the parameters of the notch filter on line comprises the following steps:
if ω'0＜ω0(ii) a The initial center frequency ω0Is adjusted to be equal to a first center frequency ω'0Equal, the first center frequency ω'0Is adjusted to
The notch width is adjusted as follows:
the notch depth is adjusted as follows:
wherein,
ω′1＝2ω′0-ω′2；
if ω'0＝ω0；ω0And ω'0All of which are unchanged, the width of the trapped wave is adjusted to the original width
1/5 where the notch depth is adjusted to the adjusted notch width;
if ω'0＞ω0Then the initial center frequency ω0Is adjusted to be equal to a first center frequency ω'0Equal, the first center frequency ω'0Is adjusted to
The notch width is adjusted as follows:
the notch depth is adjusted as follows:
further, a variable load servo system vibration suppression system based on notch filter is characterized in that: the system comprises the following modules:
the model establishing module is used for establishing a model for the elastic connecting device of the servo system needing vibration suppression to obtain a servo system model; a position sensor for measuring the amplitude of the system is arranged in the servo system;
the first data acquisition module is used for acquiring amplitude data of a position sensor in the servo system;
a first judging module, configured to judge whether there is residual vibration in the system according to the amplitude data? If yes, the filter design module is started; otherwise, returning to the first data acquisition module;
the filter design module is used for designing a notch filter according to the servo system model and restraining the residual vibration of the servo system by utilizing the designed notch filter; the initial center frequency of the residual vibration of the servo system is omega0Calculated according to the amplitude data;
the second judgment module is used for acquiring amplitude data of the servo system after the residual vibration is suppressed by using the position sensor; and determine whether there is residual vibration in the current servo system based on amplitude data of the servo system after vibration suppression? If yes, the calculation module is reached; otherwise, returning to the first data acquisition module;
a calculating module, configured to calculate, according to the amplitude data of the servo system after vibration suppression, a first center frequency ω 'of the residual vibration of the servo system after vibration suppression'0；
A parameter updating module for updating according to omega'0And ω0Updating parameters of the notch filter on line;
a third determination module, which is used to determine whether the system is stopped? If yes, the terminal module is reached; otherwise, inhibiting the residual vibration of the system again by using the updated notch filter, and returning to the parameter updating module;
and a termination module for terminating the residual vibration suppression program.
The technical scheme provided by the invention has the beneficial effects that: the time domain analysis method adopted by the technical scheme can quickly detect the change of the central frequency, the central frequency can be obtained in one period after the vibration is generated due to the change of the load, the real-time performance is strong, the filter parameters and the central frequency are corrected in real time according to the subsequent vibration condition, the excellent filtering effect can be obtained, and the vibration suppression method is simple, convenient and high in real-time performance under the condition of variable load.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method for suppressing vibration of a notch filter-based variable load servo system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a model of a position loop system with elastic means according to an embodiment of the present invention;
FIG. 3 is a block diagram of a system incorporating a notch filter in an embodiment of the present invention;
FIG. 4 is a graph of displacement versus time for servo system vibration in an embodiment of the present invention;
FIG. 5 is a comparison of notch filter parameter adjustments made before and after embodiments of the present invention;
FIG. 6 is a schematic diagram of a module of a notch filter-based variable load servo system vibration suppression system according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides a method and a system for suppressing vibration of a variable load servo system based on a notch filter.
Referring to fig. 1, fig. 1 is a flowchart of a method for suppressing vibration of a variable load servo system based on a notch filter according to an embodiment of the present invention, which specifically includes the following steps:
s101: modeling an elastic connecting device of a servo system needing vibration suppression to obtain a servo system model; a position sensor for measuring the amplitude of the system is arranged in the servo system;
s102: acquiring amplitude data of a position sensor in a servo system;
s103: is there residual vibration present in the system determined from the amplitude data? If yes, go to step S104; otherwise, returning to the step S102;
s104: designing a notch filter according to a servo system model, and restraining the residual vibration of the servo system by using the designed notch filter; the initial center frequency of the residual vibration of the servo system is omega0Calculated according to the amplitude data;
s105: acquiring amplitude data of the servo system after residual vibration suppression by using a position sensor; and determine whether there is residual vibration in the current servo system based on amplitude data of the servo system after vibration suppression? If yes, go to step S106; otherwise, returning to the step S102;
s106: calculating to obtain a first center frequency omega 'of residual vibration of the servo system after vibration suppression according to the amplitude data of the servo system after vibration suppression'0；
S107: according to ω'0And ω0Is the parameters of the notch filter updated and configured online, and determine whether the system is stopped? If yes, go to step S108; otherwise, the updated notch filter is used for restraining the residual vibration of the system again, and the step S105 is returned;
s108: the residual vibration suppressing routine is ended.
In step S101, the time domain representation and the frequency domain representation of the transfer function between the load rotation speeds of the motors of the servo system model are as shown in the formula (1) and the formula (2):
in the formulas (1) and (2), C1The damping coefficient of the motor rotating shaft; c2Is the load damping coefficient; cwThe damping coefficient of the transmission shaft; j. the design is a square1Is the rotational inertia (kg.m) of the rotating shaft of the motor2)；J2Is a load moment of inertia (kg · m)2)；ω1The rotating speed of a rotating shaft of the motor (rad/s); omega2Load rotation speed (rad/s); theta1Is the motor rotating shaft corner (rad); theta2Is the load corner (rad); t iseIs the motor electromagnetic torque (N.m); t islIs the motor electromagnetic torque (N.m); t iswIs the transmission shafting torque (N.m); k is the torsional elastic coefficient (N.m/rad) of the transmission shaft.
A model block diagram of a position loop system of a servo system is shown in FIG. 2, and a servo system structure incorporating a notch filter is shown in FIG. 3.
In step S103, the method for determining whether there is residual vibration in the system according to the amplitude data includes: acquiring a maximum amplitude Hmax in the amplitude data; determine whether condition Hmax ≧ x is satisfied? If yes, judging that residual vibration exists; otherwise, judging that residual vibration does not exist; wherein x is greater than 0, is a vibration threshold value and is a preset value.
In step S104, the transfer function of the designed notch filter is as shown in equation (3):
in the above formula, the first and second carbon atoms are,
k1is the notch width, k2In order to obtain the depth of the notch,
k1＝5k2，ω0calculating and obtaining the initial central frequency of the residual vibration of the servo system according to the amplitude data; omega1And ω2Respectively, the start and end rejection frequencies of the notch filter, wherein the initial notch width k1Is composed of
Initial notch depth k2Is composed of
Initial omega2And ω1According to the initial k1And k2And (6) obtaining.
The method for calculating and obtaining the center frequency of the residual vibration of the servo system according to the amplitude data comprises the following steps:
s201: obtaining a displacement time relation diagram (shown in figure 4) of the vibration of the servo system according to the amplitude data of the position sensor; and obtaining the maximum wave peak appearance time t of the amplitude according to the displacement time relation diagram1And the time t when the second largest peak appears2；
S202: according to t1And t2Calculating to obtain the vibration center frequency omega of the servo system by adopting a frequency calculation formula0(ii) a The calculation formula is shown as formula (4):
in step S105, the method for determining whether residual vibration exists in the current servo system according to the amplitude data of the servo system after vibration suppression includes:
acquiring a maximum amplitude Hmax1 in amplitude data of the servo system after vibration suppression; determine whether condition Hmax1 ≧ x? If yes, judging that residual vibration exists; otherwise, judging that residual vibration does not exist; wherein x is a preset value when the vibration threshold value is greater than 0.
In step S106, the vibration center frequency ω 'of the servo system after vibration suppression is calculated'0The steps are as follows:
s301: obtaining a first displacement time relation graph of the servo system vibration after vibration suppression according to the amplitude data of the servo system after vibration suppression; and obtaining the maximum wave peak appearance time t of the amplitude according to the first displacement time relation graph1' and the time t when the second largest peak occurs2′；
S302: according to t1' and t2' calculating the vibration of the servo system after the vibration is restrained by adopting a frequency calculation formulaMotion center frequency ω'0(ii) a The calculation formula is shown in formula (5):
in step S107, the formula is ω'0And ω0The method for carrying out online parameter updating configuration on the notch filter comprises the following steps:
a comparison of the filter parameters before and after the on-line update is shown in fig. 5, in which the dashed line represents the notch filter after update and the solid line represents the notch filter before update. It can be seen that the subsequent parameter ω'0At an initial center frequency ω0So that the adjusted first center frequency is adjusted to ω ″)0The shift should be performed to the left, and the notch width is reduced accordingly, specifically, the parameters of the notch filter are updated in the following three cases:
the first condition is as follows: omega'0＜ω0At this time, the initial center frequency ω0Is adjusted to be equal to a first center frequency ω'0Equal, the first center frequency ω'0Is adjusted to
The center frequency is shifted to the left, and the notch width adjustment strategy is:
to ensure the symmetry of the amplitude-frequency characteristic, take ω'1＝2ω′0-ω′2. The adjustment is carried out, so that the notch bandwidth is gradually narrowed, and the response influence on surrounding frequencies is reduced.
Case two: omega'0＝ω0The center frequency of the filter is relatively accurate without changing, but the notch width is correspondingly narrowed, the method is similar to the situation, except that the bandwidth is directly reduced to the original bandwidth
And then continuing to analyze the subsequent vibration condition.
Case three: omega'0＞ω0Then the initial center frequency ω0Is adjusted to be equal to a first center frequency ω'0Equal, the first center frequency ω'0Is adjusted to
But contrary to the case one, the center frequency is shifted to the right. At this time, the center frequency, the left and right notch widths are adjusted to be the same as in the case one, and the left frequency is adjusted to be
The right side frequency is adjusted to be omega'2＝2ω0-ω′1。
From ω'1And ω'2Determining the bandwidth, and thereby the parameter k of the notch filter1And k2And then through center frequency ω'0And determining parameters a, b and c to complete the configuration of the filter.
Please refer to fig. 6, which is a schematic diagram illustrating a module composition of a variable load servo system vibration suppression system based on a notch filter according to an embodiment of the present invention, wherein: including what connect in order: the device comprises a model establishing module 11, a first data acquiring module 12, a first judging module 13, a filter designing module 14, a second judging module 15, a calculating module 16, a parameter updating module 17, a third judging module 18 and a terminating module 19;
the model establishing module 11 is used for establishing a model of an elastic connecting device of a servo system needing vibration suppression to obtain a servo system model; a position sensor for measuring the amplitude of the system is arranged in the servo system;
a first data acquisition module 12, configured to acquire amplitude data of a position sensor in a servo system;
a first judging module 13, configured to judge whether there is residual vibration in the system according to the amplitude data? If yes, go to filter design module 14; otherwise, returning to the first data acquisition module 12;
a filter design module 14 for designing the notch filter according to the servo system model and using the designed notch filterThe wave filter suppresses the residual vibration of the servo system; the initial center frequency of the residual vibration of the servo system is omega0Calculated according to the amplitude data;
the second judging module 15 is configured to obtain amplitude data of the servo system after the residual vibration is suppressed by using the position sensor; and determine whether there is residual vibration in the current servo system based on amplitude data of the servo system after vibration suppression? If yes, go to the calculation module 16; otherwise, returning to the first data acquisition module 12;
a calculating module 16, configured to calculate a first center frequency ω 'of residual vibration of the servo system after vibration suppression according to the amplitude data of the servo system after vibration suppression'0；
A parameter update module 17 for calculating from ω'0And ω0Updating parameters of the notch filter on line;
a third determination module 18, for determining whether the system is stopped? If yes, the terminal module is reached; otherwise, inhibiting the residual vibration of the system again by using the updated notch filter, and returning to the parameter updating module;
a termination module 19 for ending the residual vibration suppression procedure.
The invention has the beneficial effects that: the time domain analysis method adopted by the technical scheme can quickly detect the change of the central frequency, the central frequency can be obtained in one period after the vibration is generated due to the change of the load, the real-time performance is strong, the filter parameters and the central frequency are corrected in real time according to the subsequent vibration condition, the excellent filtering effect can be obtained, and the vibration suppression method is simple, convenient and high in real-time performance under the condition of variable load.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A variable load servo system vibration suppression method based on a notch filter is characterized in that: the method comprises the following steps:
s101: modeling an elastic connecting device of a servo system needing vibration suppression to obtain a servo system model; a position sensor for measuring the amplitude of the system is arranged in the servo system;
s102: acquiring amplitude data of a position sensor in a servo system;
s103: is there residual vibration present in the system determined from the amplitude data? If yes, go to step S104; otherwise, returning to the step S102;
s104: designing a notch filter according to a servo system model, and restraining the residual vibration of the servo system by using the designed notch filter; the initial center frequency of the residual vibration of the servo system is omega0Calculated according to the amplitude data;
s105: acquiring amplitude data of the servo system after residual vibration suppression by using a position sensor; and determine whether there is residual vibration in the current servo system based on amplitude data of the servo system after vibration suppression? If yes, go to step S106; otherwise, returning to the step S102;
s106: calculating to obtain a first center frequency omega 'of residual vibration of the servo system after vibration suppression according to the amplitude data of the servo system after vibration suppression'0；
S107: according to ω'0And ω0Updating parameters of the notch filter on line;
s108: is the servo system stopped? If yes, go to step S109; otherwise, the updated notch filter is used for restraining the residual vibration of the system again, and the step S107 is returned;
s109: ending the residual vibration suppression program;
in step S107, according to the first center frequency ω'0And an initial center frequency ω0The method for updating the parameters of the notch filter on line comprises the following steps:
if ω'0＜ω0(ii) a The initial center frequency ω0Adjusted to sum a first center frequencyω′0Equal, the first center frequency ω'0Is adjusted to
The notch width is adjusted as follows:
the notch depth is adjusted as follows:
wherein,
ω′1＝2ω′0-ω′2；
if ω'0＝ω0；ω0And ω'0All are constant, notch width k1Adjusted to the original width of the trap
Notch depth k21/5 adjusted to the adjusted notch width;
if ω'0＞ω0Then the initial center frequency ω0Is adjusted to be equal to a first center frequency ω'0Equal, the first center frequency ω'0Is adjusted to
Notch width k1The adjustment is as follows:
notch depth k2The adjustment is as follows:
ω1and ω2Respectively the start and end rejection frequencies of the notch filter.
2. The method for suppressing the vibration of the notch filter-based variable-load servo system as claimed in claim 1, wherein: in step S101, a transfer function between load rotation speeds of the motors of the servo system model is shown in formula (1):
in the above formula, J2Is the moment of inertia of the load; theta1Is the rotation angle of the rotating shaft of the motor; theta2Is a load corner; k is the torsional elasticity coefficient of the transmission shaft.
3. The method for suppressing the vibration of the notch filter-based variable-load servo system as claimed in claim 1, wherein: in step S103, the method for determining whether there is residual vibration in the system according to the amplitude data includes: acquiring a maximum amplitude Hmax in the amplitude data; determine whether condition Hmax ≧ x is satisfied? If yes, judging that residual vibration exists; otherwise, judging that residual vibration does not exist; wherein x is greater than 0, is a vibration threshold value and is a preset value.
4. The method for suppressing the vibration of the notch filter-based variable-load servo system as claimed in claim 1, wherein: in step S104, the transfer function of the designed notch filter is as shown in equation (2):
in the above formula, the first and second carbon atoms are,
k1is the notch width, k2In order to obtain the depth of the notch,
k1＝5k2，ω0calculating and obtaining the initial central frequency of the residual vibration of the servo system according to the amplitude data; omega1And ω2Respectively the start and end suppression frequencies, omega, of the notch filter1And ω2With respect to ω0Left-right symmetry, wherein the initial notch width k1Is composed of
Initial notch depth k2Is composed of
Initial omega2And ω1According to the initial k1And k2And (6) obtaining.
5. The method for suppressing the vibration of the notch filter-based variable-load servo system as claimed in claim 4, wherein: in step S104, the method for calculating and obtaining the center frequency of the residual vibration of the servo system according to the amplitude data is as follows:
s201: obtaining a displacement time relation graph of the vibration of the servo system according to the amplitude data of the position sensor; and obtaining the maximum wave peak appearance time t of the amplitude according to the displacement time relation diagram1And the time t when the second largest peak appears2；
S202: according to t1And t2Calculating to obtain the initial central frequency omega of the residual vibration of the servo system by adopting a frequency calculation formula0(ii) a The calculation formula is shown in formula (3):
6. the method for suppressing the vibration of the notch filter-based variable-load servo system as claimed in claim 1, wherein: in step S105, the method for determining whether residual vibration exists in the current servo system according to the amplitude data of the servo system after vibration suppression includes:
acquiring a maximum amplitude Hmax1 in amplitude data of the servo system after vibration suppression; determine whether condition Hmax1 ≧ x? If yes, judging that residual vibration exists; otherwise, judging that residual vibration does not exist; wherein x is greater than 0, is a vibration threshold value and is a preset value.
7. A variable load servo system vibration suppression system based on a notch filter is characterized in that: the system comprises the following modules:
the model establishing module is used for establishing a model for the elastic connecting device of the servo system needing vibration suppression to obtain a servo system model; a position sensor for measuring the amplitude of the system is arranged in the servo system;
the first data acquisition module is used for acquiring amplitude data of a position sensor in the servo system;
a first judging module, configured to judge whether there is residual vibration in the system according to the amplitude data? If yes, the filter design module is started; otherwise, returning to the first data acquisition module;
the filter design module is used for designing a notch filter according to the servo system model and restraining the residual vibration of the servo system by utilizing the designed notch filter; the initial center frequency of the residual vibration of the servo system is omega0Calculated according to the amplitude data;
the second judgment module is used for acquiring amplitude data of the servo system after the residual vibration is suppressed by using the position sensor; and determine whether there is residual vibration in the current servo system based on amplitude data of the servo system after vibration suppression? If yes, the calculation module is reached; otherwise, returning to the first data acquisition module;
a calculating module, configured to calculate, according to the amplitude data of the servo system after vibration suppression, a first center frequency ω 'of the residual vibration of the servo system after vibration suppression'0；
A parameter updating module for updating according to omega'0And ω0Updating parameters of the notch filter on line;
a third determination module, which is used to determine whether the system is stopped? If yes, the terminal module is reached; otherwise, inhibiting the residual vibration of the system again by using the updated notch filter, and returning to the parameter updating module;
a termination module for terminating the residual vibration suppression program;
in the parameter updating module, according to the first center frequency omega'0And an initial center frequency ω0The method for updating the parameters of the notch filter on line comprises the following steps:
if ω'0＜ω0(ii) a The initial center frequency ω0Is adjusted to be equal to a first center frequency ω'0Equal, the first center frequency ω'0Is adjusted to
Notch width k1The adjustment is as follows:
notch depth k2The adjustment is as follows:
wherein,
ω′1＝2ω′0-ω′2；
if ω'0＝ω0；ω0And ω'0All of which are unchanged, the width of the trapped wave is adjusted to the original width
1/5 where the notch depth is adjusted to the adjusted notch width;
if ω'0＞ω0Then the initial center frequency ω0Is adjusted to be equal to a first center frequency ω'0Equal, the first center frequency ω'0Is adjusted to
Notch width k1The adjustment is as follows:
notch depth k2The adjustment is as follows:
ω1and ω2Respectively the start and end rejection frequencies of the notch filter.
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