CN109995300B - Method, system and medium for resonance suppression and notch parameter optimization of servo system - Google Patents
Method, system and medium for resonance suppression and notch parameter optimization of servo system Download PDFInfo
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- CN109995300B CN109995300B CN201910327030.6A CN201910327030A CN109995300B CN 109995300 B CN109995300 B CN 109995300B CN 201910327030 A CN201910327030 A CN 201910327030A CN 109995300 B CN109995300 B CN 109995300B
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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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Abstract
A method, a system and a medium for resonance suppression and notch parameter optimization of a servo system are provided, wherein an amplitude threshold corresponding to a maximum value of a resonance frequency when the servo system has no mechanical resonance is firstly obtained; then determining an equation of a filter coefficient, wherein the filter coefficient is a coefficient of a difference equation corresponding to a transfer function of the wave trap; optimizing a ratio according to a preset sampling frequency, a rotating speed difference set obtained by the sampling frequency, an amplitude threshold value and the filter coefficient equation; and finally, optimizing the first notch parameter and the second notch parameter according to the optimized ratio, the sampling frequency, the rotating speed difference set, the amplitude threshold value and the filter coefficient equation. Thereby obtaining a good notch parameter value after optimization. An automatic trapped wave parameter setting scheme is provided, the trapped wave parameter is continuously adjusted based on the amplitude threshold value, and the trapped wave parameter is efficiently set.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to a method, a system and a medium for suppressing mechanical resonance of a servo system.
Background
The servo system is a feedback control system used for accurately following or reproducing a certain process, and an automatic control system which enables the output controlled quantity of the position, the direction, the state and the like of an object to follow the arbitrary change of an input target (or a given value) is provided. The typical servo system consists of a control unit, a power driving device, a servo motor and a feedback device, wherein the control unit mainly realizes various control algorithms to meet the required control performance and function; the power driving device converts electric energy into motor kinetic energy according to control characteristics, the servo motor is an engine for controlling mechanical elements to operate, and the feedback device selects a position encoder to form a speed and position closed loop of a servo system. The servo motor of the servo system transmits output torque to a load or an actuating mechanism through a mechanical transmission device, so as to drive the load or the actuating mechanism to work. The mechanical transmission part of the servo system is often connected with a motor and a load by using transmission devices such as a transmission shaft, a speed reducer, a coupler and the like, the actual transmission device is not an ideal rigid body, and the transmission device can show certain elastic deformation in the torque transmission process, so that mechanical resonance can be caused to the motor torque, the motor rotating speed and the mechanical transmission torque, the system generates noise, and when the servo system works in a mechanical resonance state for a long time, the transmission device can be seriously damaged, and industrial accidents are caused. Therefore, the method has strong practical application significance for the research of the mechanical resonance problem of the servo system.
In order to suppress the resonance phenomenon of the servo system, the current solution includes: the passive suppression is realized, and the resonance phenomenon of the system is solved by adjusting a mechanical mechanism of the system, such as adding a trap wave filter between a speed ring and a current ring, or adding a shock absorption link or mechanical reinforcement and the like; and secondly, actively suppressing, and changing the structure or parameters of the controller, such as acceleration feedback, state feedback, intelligent control algorithm and the like. The acceleration feedback is to observe the acceleration of the motor according to the position and the current of the motor and compensate the current set value by using the observed acceleration.
The inventor finds that a wave trap is connected between a speed loop and a current loop of a servo driving system in series when the mechanical resonance suppression of the servo system is implemented, so that the gain at the resonance frequency is reduced, the effect of suppressing the mechanical resonance is achieved, a wave trap parameter needs to be determined before the wave trap is used, the performance of the wave trap is determined by the wave trap parameter, the wave trap can play a role in suppressing the resonance by good parameters, and the stability of the servo system can be reduced by severe parameters, so that the normal operation of a motor is influenced. The trap can be divided into a two-parameter trap and a three-parameter trap according to different trap parameters, the trap parameters needing to be determined before the two-parameter trap are used comprise central frequency and trap bandwidth, the trap parameters needing to be determined before the three-parameter trap are used comprise central frequency, trap bandwidth and trap depth, although the two-parameter trap has few parameters and is convenient to adjust, larger phase lag can be introduced, the stability is poor, the parameter determination method comprises manual setting and automatic calculation, certain time and energy can be consumed when technicians adjust the trap in a manual setting mode at present, and if the trap parameters are determined by the automatic calculation method, the algorithm selection is improper, the operation speed is low, the calculated parameters are inaccurate, and the like.
Therefore, a scheme capable of automatically and efficiently setting the resonance suppression parameters of the servo system is needed.
Disclosure of Invention
The invention mainly solves the technical problem of how to realize automatic and efficient setting of resonance suppression parameters of a servo system so as to improve the performance of a wave trap when the wave trap obtains better parameters and well suppress mechanical resonance.
According to a first aspect, an embodiment provides a notch parameter optimization method for servo system resonance suppression, comprising:
a threshold value obtaining step: obtaining an amplitude corresponding to the maximum value of the resonance frequency when the servo system has no mechanical resonance as an amplitude threshold value;
a filter coefficient equation determining step: determining an equation of a filter coefficient, wherein the filter coefficient is a coefficient of a difference equation corresponding to a transfer function of the wave trap;
a ratio obtaining step: optimizing a ratio according to a preset sampling frequency, a rotating speed difference set obtained by the sampling frequency, an amplitude threshold value and the filter coefficient equation; wherein the ratio is a ratio of the first notching parameter to the second notching parameter;
a second notch parameter optimization step: and optimizing a first notch parameter and a second notch parameter according to the optimized ratio, the sampling frequency, the rotation speed difference set, the amplitude threshold value and the filter coefficient equation.
In another embodiment, the ratio obtaining step includes:
a first coefficient calculation step: calculating and updating the filter coefficient through the current value of the first notch parameter, the current value of the second notch parameter, the sampling frequency and the current rotation speed difference set based on the equation of the filter coefficient; wherein initially the first notch parameter and the second notch parameter both have a predetermined value;
a first enabling step: enabling the wave trap according to the updated filter coefficient;
a first rotational speed difference set acquisition step: acquiring a rotation speed difference set of the servo system after the first enabling step at the sampling frequency;
a first amplitude value calculation step: calculating the amplitude corresponding to the current resonant frequency of the servo system according to the current rotating speed difference set;
a first iteration step: when the current amplitude is not equal to the amplitude threshold value, updating the value of the first notch parameter according to a preset rule, and starting to execute the first coefficient calculation step again; and when the current amplitude is equal to the preset amplitude, taking the ratio of the current first notch parameter to the second notch parameter as the optimized ratio.
In another embodiment, the second notch parameter optimizing step comprises:
an updating step: updating the value of the second notch parameter according to the preset rule, and updating the value of the first notch parameter according to the updated value of the second notch parameter, so that the ratio of the updated first notch parameter to the updated second notch parameter is kept as the optimized ratio;
a second coefficient calculation step: calculating and updating the filter coefficient through the updated value of the first notch parameter, the updated value of the second notch parameter, the sampling frequency and the current rotation speed difference set based on the equation of the filter coefficient;
a second enabling step: enabling the wave trap according to the updated filter coefficient;
a second rotating speed difference set obtaining step: acquiring a rotation speed difference set of the servo system after the second enabling step at the sampling frequency;
a second amplitude value calculation step: calculating the amplitude corresponding to the current resonant frequency of the servo system according to the current rotating speed difference set;
a second iteration step: when the current amplitude is not larger than the amplitude threshold value, the updating step is started again; and when the current amplitude is larger than the amplitude threshold value, respectively taking the values of the current first notching parameter and the second notching parameter in the last updating as the values of the optimized first notching parameter and the optimized second notching parameter.
In another embodiment, the preset rule is a dichotomy adjustment method.
In another embodiment, the threshold obtaining step includes: a sampling step: when the servo system has no mechanical resonance, acquiring a rotating speed difference set of the servo system at a preset sampling frequency, wherein the rotating speed difference set is a difference set of an actual rotating speed and a preset rotating speed of a servo motor;
an amplitude threshold value obtaining step: obtaining an amplitude threshold value corresponding to the maximum value of the resonant frequency of the servo system according to the rotating speed difference set;
alternatively, the first and second electrodes may be,
and obtaining the amplitude threshold value according to a preset threshold value table.
In another embodiment, the first notching parameter is a notching width, and the second notching parameter is a notching depth; or the first notch parameter is notch depth, and the second notch parameter is notch width.
According to a second aspect, an embodiment provides a method for servo system resonance suppression, comprising:
judging whether the servo system resonates;
when the servo system is judged to be resonant, starting at least one wave trap; wherein the notching parameters of any one of the enabled traps are determined by the notching parameter optimizing method as described in any one of the above.
In another embodiment, the activating at least one trap comprises: and sequentially starting a preset number of wave traps, wherein after one wave trap is started and the wave trap works in the optimized wave trapping parameters, if the resonance of the servo system is still judged and the number of the wave traps does not reach the preset number, the next wave trap is continuously started.
According to a third aspect, there is provided in one embodiment a method for servo control, comprising:
the encoder is used for acquiring the rotating speed of the servo motor;
the control unit is used for starting at least one wave trap when the resonance occurs at the current moment according to the acquired rotating speed, and determining the wave trap parameters of the started wave trap by the wave trap parameter optimization method;
the speed ring is used for setting the output signal of the speed ring after the wave trap is enabled;
the current loop is used for setting the input signal of the current loop after the wave trap is enabled;
the power driving device is used for receiving the signal output by the current loop and outputting a driving signal;
and the servo motor is used for receiving the driving signal to drive.
According to a fourth aspect, an embodiment provides a computer readable storage medium comprising a program executable by a processor to implement the method for notch parameter optimization for servo system resonance suppression as described in any of the above.
The beneficial effect of this application is:
according to the method, the system and the medium for optimizing the trapped wave parameter for the resonance suppression of the servo system, firstly, the amplitude corresponding to the maximum value of the resonance frequency when the servo system has no mechanical resonance is obtained and used as an amplitude threshold value; then determining an equation of a filter coefficient, wherein the filter coefficient is a coefficient of a difference equation corresponding to a transfer function of the wave trap; optimizing a ratio according to a preset sampling frequency, a rotating speed difference set obtained by the sampling frequency, an amplitude threshold value and the filter coefficient equation; and finally, optimizing the first notch parameter and the second notch parameter according to the optimized ratio, the sampling frequency, the rotating speed difference set, the amplitude threshold and the filter coefficient equation, providing an automatic notch parameter setting scheme, continuously adjusting the notch parameter based on the amplitude threshold, and efficiently setting the notch parameter, thereby obtaining an optimized good notch parameter value.
The application provides a resonance suppression method for a servo system, which comprises the steps of judging whether the servo system resonates or not; when the servo system is judged to be resonant, starting at least one wave trap; wherein the trap parameters of any one of the enabled traps are determined by the trap parameter optimization method. And applying the optimized first notch parameter and the optimized second notch parameter to a controller of the servo system so that the controller enables the wave trap, the wave trap is enabled through software, and the good notch parameter can provide the performance of the wave trap to play a role in inhibiting mechanical resonance. The at least one wave trap is started to avoid the problem that the calculated resonant frequency cannot represent the actual resonant frequency and cannot achieve the actual mechanical resonance suppression effect due to low frequency resolution caused by too few sampling points in consideration of FFT.
In the embodiment of the invention, at least one wave trap is started when the servo system is determined to be resonant according to the rotating speed acquired by an encoder, and the wave trap parameters of the started wave trap are determined by the wave trap parameter optimization method, so that the wave trap can perform enabling according to the wave trap parameters, a speed loop is used for setting a self output signal and a current loop after the wave trap is enabled, a self input signal is set after the wave trap is enabled, a power driving device receives the signal output after the current loop is set and outputs a driving signal, a servo motor receives the driving signal to drive, and the mechanical coordination is inhibited. The actual mechanical resonance suppression effect cannot be achieved.
Drawings
FIG. 1 is a schematic structural diagram of a servo system according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for suppressing resonance of a servo system according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating another method for suppressing resonance in a servo system according to another embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for optimizing a notch parameter for suppressing resonance in a servo system according to a third embodiment of the present invention;
fig. 5 is a schematic flowchart of a specific process of a threshold acquisition step according to a third embodiment of the present invention;
FIG. 6 is a flowchart illustrating specific steps of obtaining a ratio according to a third embodiment of the present invention
Fig. 7 is a schematic flowchart of a second notch parameter optimization step according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
Example one
The embodiment of the invention provides a servo system, which comprises an encoder 01, a control unit 02, a speed loop 03, a current loop 04, a power driving device 05 and a servo motor 06, which are specifically described below.
The encoder 01 is used for acquiring the rotating speed of the servo motor 06.
The control unit 02 is configured to start at least one trap when determining that resonance occurs at the present time according to the acquired rotation speed, and determine a trap parameter of the started trap by using the method for optimizing the trap parameter according to the present invention.
The speed loop 03 is used to tune its own output signal after the trap is enabled.
The current loop 04 is used for setting the input signal of the current loop after the wave trap is enabled.
The power driving device 05 is configured to receive the signal output by the current loop 04 and output a driving signal.
The servo motor 06 is used for receiving the driving signal to drive.
It should be noted that the input of the current loop 04 is the output of the speed loop 03 after PID adjustment, which is called as current loop 04 set, after the wave trap is added, the input is the signal of the wave trap adjustment output, the set of the current loop 04, that is, the output of the wave trap is compared with the feedback value of the current loop 04, the obtained comparison difference is PID adjusted in the current loop 04 and output to the motor, the output of the current loop 04 is the phase current of each phase of the motor, and the feedback of the current loop 04 is not the feedback of the encoder 01, but the hall element (magnetic field induction becomes the current voltage signal) installed in each phase inside the power driving device 05 is fed back to the current loop 04.
It should be noted that, in the three-loop system, the input of the speed loop 03 is the output after PID adjustment of the position loop and the feedback value of the position setting, which is called as the speed setting, the speed setting is compared with the feedback of the speed, the obtained comparison difference is output after PID adjustment (mainly proportional gain and integral processing) is performed in the speed loop 03, and when no trap filter is added, the output is the above-mentioned setting of the current loop 04. The feedback value of the speed loop 03 from the encoder 01 is obtained by a speed calculator.
It should be noted that the trap filter is a special form of a band-stop filter, the frequency bandwidth of the stop signal is very narrow, and only the attenuation effect is generated on the signal of a certain specific frequency, so that the high-frequency resonance in the system can be effectively suppressed, the trap filter is connected in series after the output of the speed loop 03 of the servo system control link, and the gain of the open-loop system at the resonance frequency point is attenuated to be less than 0dB by setting the resonance frequency, the trap width and the trap depth, so as to eliminate the resonance phenomenon. The trap has fewer parameters to be determined, and the trap central frequency, namely the maximum value of the resonance frequency, can be accurately set by introducing FFT to detect the resonance frequency.
Illustratively, the servo system adopts a current loop 04-speed loop 03 double-loop control, the inner loop is the current loop 04 and consists of a current controller (PI regulator), inverse Park conversion, an SVPWM inverter, a Clark converter and a Park converter, I1 and I2 are given by current, the current controller is input, the current which flows through the three-phase self-determined current of the motor is sampled and subjected to coordinate conversion to respectively obtain current values I11 and I22 of two shafts, the deviation between the given current and the actual current is input into the current regulator, and the current regulator regulates to finally enable the current of the motor to be equal to the given current. The speed ring 03 is arranged outside the current ring 04 and consists of a given signal, a speed controller and a position and speed detection link, the deviation between the given speed and the actual speed is input into the speed controller, the controller outputs a given current, and the rotating speed of the motor is adjusted.
It should be noted that the power driving device 05 (servo driver) usually uses a PI regulator for speed control, and the gain of the speed loop 03 is one of the important criteria for evaluating the performance of the driver, however, when there is an elastic connection between the load and the motor, such as a coupling, a screw rod, etc., an excessively high gain of the speed easily causes mechanical resonance. Therefore, when the servo system generates mechanical resonance, a wave trap is connected between the current ring 04 and the speed ring 03 in series to realize the setting of the output signal of the speed ring 03 and the setting of the input signal of the current ring 04.
The working principle of the embodiment of the invention is briefly described as follows:
referring to fig. 1, when mechanical resonance does not occur in a servo system, that is, when a servo motor 06 normally operates, the servo system controller acquires a rotation speed of the speed ring 03 through an encoder 01, performs a difference between the acquired rotation speed and a preset rotation speed to obtain a rotation speed difference set, performs FFT on the rotation speed difference set to obtain a resonance frequency value, and uses an amplitude value corresponding to a maximum value (center frequency) in the resonance frequency as an amplitude threshold value for subsequent filter parameter optimization setting. The encoder 01 collects the rotating speed of the motor in real time or at intervals of a preset time period, speed calculation is carried out, the collected rotating speed is differentiated from a preset rotating speed value to obtain a rotating speed difference set, FFT conversion is carried out according to the rotating speed difference set to obtain a corresponding amplitude, when mechanical resonance of the servo system is judged to occur according to a secondary value, the wave trap is connected between the speed ring 03 and the current ring 04 in series, the controller collects the rotating speed of the motor through the encoder 01, the control unit 02 differentiates the collected actual rotating speed of the motor from the preset rotating speed to obtain a rotating speed difference set, FFT conversion is carried out on the rotating speed difference set to obtain resonance frequency, an amplitude corresponding to the maximum value of the resonance frequency is obtained according to the resonance frequency, a filter coefficient equation is obtained, and optimization is carried out according to the preset sampling frequency, the rotating speed difference set obtained by the sampling frequency, an amplitude threshold and the filter coefficient equation, The method comprises the steps of obtaining an optimized ratio by a rotating speed difference set, an amplitude threshold value and a filter coefficient equation optimized ratio obtained by the sampling frequency, optimizing a first trapped wave parameter and a second trapped wave parameter according to the optimized ratio, the sampling frequency, the rotating speed difference set, the amplitude threshold value and the filter coefficient equation, determining the trapped wave parameter of a started trapped wave device according to the optimized first trapped wave parameter and the optimized second trapped wave parameter, enabling the trapped wave device to set a speed ring 03 to output a signal, enabling the trapped wave device to set a current ring 04 to input a signal, receiving the signal output after the current ring 04 is set by a power driving device 05, outputting a driving signal, receiving the driving signal by a servo motor 06 to drive, and setting the rotating speed of the trapped wave device after the motor rotates and the preset rotating speed to the speed ring 03.
The servo system according to the above embodiment is mainly characterized in that:
when the resonance of the servo system is determined according to the rotating speed acquired by the encoder 01, at least one wave trap is started, the wave trap parameters of the started wave trap are determined by the method for optimizing the wave trap parameters, so that the wave trap can perform the enabling according to the wave trap parameters, the speed ring 03 sets the output signal of the wave trap after the enabling of the wave trap, the current ring 04 sets the input signal of the wave trap after the enabling of the wave trap, the power driving device 05 receives the signal output after the setting of the current ring 04, outputs a driving signal, the servo motor 06 receives the driving signal for driving, and the mechanical coordination is restrained. The actual mechanical resonance suppression effect cannot be achieved.
Example two
The embodiment of the invention provides a resonance suppression method for a servo system, which is executed by a controller internally or executed by a control terminal device outside a servo motor 06 control system. As shown in fig. 2, the method may include steps S11 through S12, which are explained in detail below.
Step S11: and judging whether the servo system resonates.
Step S12: when the servo system is judged to be resonant, starting at least one wave trap; wherein the notching parameters of any one started trap are determined by the notching parameter optimizing method.
Further, the activating at least one trap comprises: and sequentially starting a preset number of wave traps, wherein after one wave trap is started and the wave trap works in the optimized wave trapping parameters, if the resonance of the servo system is still judged and the number of the wave traps does not reach the preset number, the next wave trap is continuously started.
Referring to fig. 3, when it is determined that the servo system resonates, at least one trap is started, software enables a process to start, when it is determined that the servo system resonates, the control unit 02 controls the encoder 01 to perform an actual motor rotation speed, so that the control unit 02 collects a rotation speed difference, that is, a difference between the actual motor rotation speed and a preset rotation speed, calculates an FFT according to the rotation speed difference after the collection is detected to obtain a resonant frequency and a sub-value threshold, initializes a trap depth and a trap width when the rotation speed difference is not less than the threshold frequency or not less than the threshold amplitude, adjusts the trap depth to obtain a ratio, adjusts the trap width according to the ratio, adjusts the trap depth, determines a filter coefficient in a filter coefficient equation according to the adjusted trap depth and trap width parameters, obtains a filter coefficient meeting conditions to end the process, and further has an output filter coefficient to optimize the trap, and when the numerical value after one wave trap is detected to be started still judges that the servo system generates resonance and the number of the wave traps does not reach the preset number, continuously starting the next wave trap.
The method for suppressing the resonance of the servo system according to the embodiment is mainly characterized in that:
judging whether the servo system resonates; when the servo system is judged to be resonant, starting at least one wave trap; wherein the trap parameters of any one of the enabled traps are determined by the trap parameter optimization method. And applying the optimized first notch parameter and the optimized second notch parameter to a controller of the servo system so that the controller enables the wave trap, the wave trap is enabled through software, and the good notch parameter can provide the performance of the wave trap to play a role in inhibiting mechanical resonance. The at least one wave trap is started to avoid the problem that the calculated resonant frequency cannot represent the actual resonant frequency and cannot achieve the actual mechanical resonance suppression effect due to low frequency resolution caused by too few sampling points in consideration of FFT.
EXAMPLE III
Referring to fig. 4, the embodiment of the invention provides a notch parameter optimization method for servo system resonance suppression, which is executed by a controller internally or executed by a control terminal device outside a servo motor 06 control system. As shown in fig. 4, the method may include a threshold value obtaining step S21, a filter coefficient equation determining step S22, a ratio obtaining step S23, and a second notch parameter optimizing step S24, which will be described in detail below.
Threshold acquisition step S21: and acquiring an amplitude threshold corresponding to the maximum value of the resonant frequency when the servo system has no mechanical resonance. In one embodiment, referring to fig. 5, the threshold obtaining step S21 may be obtained by a sampling step S31 and a magnitude threshold obtaining step S32. In another embodiment, the threshold obtaining step S21 may also obtain the amplitude threshold directly according to a preset threshold table.
Sampling step S31: when the servo system has no mechanical resonance, a rotation speed difference set of the servo system is obtained at a preset sampling frequency, wherein the rotation speed difference set is a difference set of an actual rotation speed and a preset rotation speed of the servo motor 06.
Amplitude threshold value acquisition step S32: and obtaining an amplitude threshold value corresponding to the maximum value of the resonant frequency of the servo system according to the rotating speed difference set.
When the resonant frequency is obtained according to the rotation speed difference set, the maximum value of the resonant frequency of the servo system and the amplitude threshold corresponding to the maximum value of the resonant frequency can be calculated by performing FFT on the acquired speed difference set; the collected speed difference set may also be input into a spectrum analysis tool to obtain a resonance spectrogram of the transmission unit, and the resonance frequency maximum and an amplitude threshold corresponding to the resonance frequency maximum are obtained by analyzing the resonance spectrogram, where the spectrum analysis tool may include an existing spectrum analyzer or spectrum analysis software.
Illustratively, when the servo motor 06 is in normal operation (mechanical resonance does not occur), the servo system controller acquires a rotating speed value when the servo motor 06 is in operation through the encoder 01, and the sampling frequency is fsA total of m (m 2) samples are collectedaA 1, 2, 3 … …) rotation speed value, wherein m is a positive integer greater than 0, and the m rotation speed values are differed from the set rotation speed value of the servo system controller to obtain a rotation speed difference set { Δ S) comprising m rotation speed difference values0，ΔS2，ΔS3……ΔSm-1The controller is used for rotating speed difference set (delta S) comprising m rotating speed difference values0，ΔS2，ΔS3……ΔSm-1Computing FFT (fast fourier transform) to obtain spectral values of N frequency points, where N is the number of sampling points, and the value of the sampling frequency is determined, where N is m in one possible manner, and the fast fourier transform formula is as follows:
wherein x (n) is the rotation speed difference of the nth sampling point, namely Delta SnN is 0, 1, … …, m-1; n is the number of sampling points, N is m,
is a rotation factor, and X (k) is a frequency spectrum value after signal transformation;
the frequency point with the maximum middle amplitude is the maximum value of the resonance frequency and is recorded as fthThe amplitude threshold corresponding to the maximum value of the resonant frequency is recorded as Mth。
Illustratively, the amplitude threshold value is directly obtained according to a preset threshold value table, and one possible implementation manner of the method may be that a rotation speed difference set is collected in advance, a corresponding amplitude threshold value is obtained according to the rotation speed difference set, the rotation speed difference set and the corresponding amplitude threshold value are recorded to obtain the threshold value table, and the controller directly reads the threshold value table to obtain the corresponding amplitude threshold value according to the current rotation speed difference set.
Filter coefficient equation determining step S22: and determining an equation of a filter coefficient, wherein the filter coefficient is a coefficient of a difference equation corresponding to a transfer function of the wave trap.
In the embodiment of the invention, when implementing a notch parameter optimization method for servo system resonance suppression, an inventor can design an accurate three-parameter notch filter under quantitative analysis of a two-mass servo system, and the basic idea of mechanical coordination suppression by using the notch filter is to compensate gain variation caused by an oscillation link by adding the notch filter in a loop, so that the amplitude margin of a system amplitude-frequency curve at a resonance frequency is larger than zero again, and the three-parameter notch filter has better stability than a two-parameter notch filter compared with a notch depth parameter, and the three-parameter notch filter has the following transfer function form:
wherein, ω isnIs the resonance angular frequency, d is the notch depth, w is the notch width, ωn2 pi f, f is the resonance frequency. The central frequency attenuation amplitude G and the notch bandwidth B of the trap can be determined by d and w:
B＝2wωnis recorded as a ratio of
The notch depth is-3 dB frequency bandwidth, and the resonance angular frequency is omegan2 pi f, where f is the center frequency among the resonant frequencies. The essence of the trap scheme is to make the system Bode diagram re-smooth around the resonance point by adding a trap. Therefore, the trap depth of the trap should be equal to the amplitude gain difference of the rigid system and the flexible system at the resonance frequency, and then the distance between the amplitude-frequency curves of the two systems at the far end is subtracted.
Discretizing the transfer function to obtain a difference equation:
y(n)＝b0x(n)+b1x(n-1)+b2x(n-2)-a1y(n-1)-a2y(n-2)
where x (n) is the value of the input signal at time n, y (n) is the value of the output signal at time n, b0、b1、b2、a1、a2All are filter coefficients of the wave trap, the equation of the filter coefficients can be represented by ωnD and w are determined in the following relationship:
a1＝b1
wherein f issIs the sampling frequency.
It should be noted that the sampling frequency is a frequency at which a user sets the sampling of the rotation speed difference set.
Ratio acquisition step S23: optimizing a ratio according to a preset sampling frequency, a rotating speed difference set obtained by the sampling frequency, an amplitude threshold value and the filter coefficient equation; wherein the ratio is a ratio of the first notching parameter to the second notching parameter. In an embodiment, referring to fig. 6, the ratio obtaining step S23 may include a first coefficient calculating step S41, a first enabling step S42, a first rotational speed difference set obtaining step S43, a first amplitude calculating step S44, and a first iteration step S45.
First coefficient calculation step S41: calculating and updating the filter coefficient through the current value of the first notch parameter, the current value of the second notch parameter, the sampling frequency and the current rotation speed difference set based on the equation of the filter coefficient; wherein initially both the first and second notching parameters have preset values.
First enabling step S42: enabling the wave trap according to the updated filter coefficient.
First rotational speed difference set acquisition step S43: and acquiring a rotation speed difference set of the servo system after the first enabling step by using the sampling frequency.
First amplitude value calculation step S44: and calculating the amplitude corresponding to the current resonant frequency of the servo system according to the current rotating speed difference set.
First iteration step S45: when the current amplitude is not equal to the amplitude threshold value, updating the value of the first notch parameter according to a preset rule, and starting to execute the first coefficient calculation step again; and when the current amplitude is equal to the preset amplitude, taking the ratio of the current first notch parameter to the second notch parameter as the optimized ratio.
It should be noted that, the first notch parameter is a notch width, and the second notch parameter is a notch depth, or the first notch parameter is a notch depth, and the second notch parameter is a notch width, which is not specifically limited in the present invention.
It should be noted that the two-parameter trap filter is different from the three-parameter trap filter only in the amplitude attenuation at the trap point, the amplitude attenuation of the two parameters is not controllable, and the amplitude attenuation of the three parameters is controllable, which is the ratio of the trap depth to the trap width
Illustratively, the initialized trap parameter η is 1, and B is 2 ωnIf d is 1, the current rotation speed difference set is subjected to FFT to obtain the resonance frequency, the resonance angular frequency is calculated according to the obtained resonance frequency, and the resonance angular frequency omega with the known initial value is calculated according to the equation of the filter coefficientnThe trap depth d and the trap width w can obtain the filter coefficient b of the trap0、b1、b2、a1、a2Based on the obtained filter coefficient b0、b1、b2、a1、a2Updating the filter coefficient according to the updated filter coefficient, enabling the wave trap according to the updated filter coefficient, acquiring a rotating speed difference set of the servo system after the first enabling step at the sampling frequency when the wave trap runs, calculating an amplitude value corresponding to the current resonant frequency of the servo system according to the currently acquired rotating speed difference set, comparing the amplitude value with the amplitude threshold value, updating the value of the first wave trap parameter according to a preset rule when the current amplitude value is not equal to the amplitude threshold value, and starting to execute the first coefficient calculating step again; and when the current amplitude is equal to the preset amplitude, taking the ratio of the current first notch parameter to the second notch parameter as the optimized ratio.
In the embodiments of the present inventionIn the method, the trap width w is preliminarily determined to be 1, the trap depth d is determined to be 1, the ratio eta is also determined to be 1, the trap does not produce an effect at the moment, the trap depth d or the trap width w is adjusted by a bisection method through a preset rule, the adjusted trap depth d or the adjusted trap width is used for updating a filter coefficient, then a rotation speed difference set enabling the trap is collected, the rotation speed difference set is subjected to FFT (fast Fourier transform) to obtain the current resonant frequency, and the amplitude M corresponding to the current resonant frequency is obtainedoWhen M is satisfiedo＝MthAnd then, ending the ratio obtaining step, and recording the current ratio which is the optimized ratio.
Second notch parameter optimization step S24: and optimizing a first notch parameter and a second notch parameter according to the optimized ratio, the sampling frequency, the rotation speed difference set, the amplitude threshold value and the filter coefficient equation. In an embodiment, referring to fig. 7, the second notch parameter optimizing step S24 may include an updating step S51, a second coefficient calculating step S52, a second enabling step S53, a second rotation speed difference set obtaining step S54, a second amplitude calculating step S55, and a second iteration step S56.
Update step S51: and updating the value of the second notch parameter according to the preset rule, and updating the value of the first notch parameter according to the updated value of the second notch parameter, so that the ratio of the updated first notch parameter to the updated second notch parameter is kept as the optimized ratio.
Second coefficient calculation step S52: and calculating and updating the filter coefficient through the updated value of the first notch parameter, the updated value of the second notch parameter, the sampling frequency and the current rotating speed difference set based on the equation of the filter coefficient.
Second enabling step S53: enabling the wave trap according to the updated filter coefficient.
Second rotation speed difference set acquisition step S54: and acquiring a rotation speed difference set of the servo system after the second enabling step by using the sampling frequency.
Second amplitude value calculation step S55: and calculating the amplitude corresponding to the current resonant frequency of the servo system according to the current rotating speed difference set.
Second iteration step S56: when the current amplitude is not larger than the amplitude threshold value, the adjustment step is started again; and when the current amplitude is larger than the amplitude threshold value, respectively taking the values of the current first notching parameter and the second notching parameter in the last updating as the values of the optimized first notching parameter and the optimized second notching parameter.
It should be noted that, the first notch parameter is a notch width, and the second notch parameter is a notch depth, or the first notch parameter is a notch depth, and the second notch parameter is a notch width, which is not specifically limited in the present invention.
For example, after the ratio obtaining step S23 is finished, the second notch parameter is adjusted and updated according to the preset rule, i.e. the bisection method, to obtain an updated value of the second notch parameter, then the value of the first notch parameter is updated according to the updated value of the second notch parameter under the condition that the ratio is not changed, the filter coefficient is calculated and updated according to the updated value of the first notch parameter, the updated value of the second notch parameter, the sampling frequency and the current rotation speed difference set collected at the sampling frequency based on the equation of the filter coefficient, the filter coefficient is enabled according to the updated filter coefficient, the rotation speed difference set of the servo system after the second enabling step is obtained at the sampling frequency, the amplitude corresponding to the current resonance frequency of the servo system is calculated according to the current rotation speed difference set, and the calculated amplitude is compared with the amplitude threshold, when the current amplitude is not larger than the amplitude threshold value, the adjustment step is started again; and when the current amplitude is larger than the amplitude threshold value, respectively taking the values of the current first notch parameter and the second notch parameter during last updating as the values of the optimized first notch parameter and the optimized second notch parameter, and finally obtaining the values of the optimized first notch parameter and the optimized second notch parameter.
For example, the first notching parameter is a notching depth, the second notching parameter is a notching width, the notching depth is optimized to obtain a ratio, and the notching depth and the notching width are adjusted according to the ratioThe notch width is optimized. The servo controller acquires the running rotating speed of the servo motor 06 through the encoder 01, and the sampling frequency is fsAcquiring a rotation speed difference, calculating FFT (fast Fourier transform) on the rotation speed difference by the control unit 02 to obtain a frequency point, and acquiring the frequency point with the maximum amplitude as a resonant frequency fthThe maximum amplitude is recorded as MthWherein the resonant frequency fthSum amplitude threshold MthThe notch parameters can be stored in a memory in advance, and can be directly obtained from the memory when the notch parameters are optimized, or can be obtained by on-line direct calculation. Obtaining the rotation speed difference of the motor at the current moment according to the preset sampling frequency, carrying out FFT conversion on the rotation speed difference to obtain a frequency point with the maximum amplitude as a resonant frequency, recording the maximum amplitude as M, and when f is less than or equal to fthOr M is less than or equal to MthWhen the current motor operates, no mechanical resonance is considered to be needed to carry out notch parameter optimization, and when f is larger than fthOr M is greater than MthWhen the motor is in operation, the mechanical resonance of the motor is considered. Obtaining equations for filter coefficients, initializing trap parameters, e.g. 1 η, 2 ω BnAnd d-w-1. After a trapped wave parameter is calculated in the servo controller, a trap filter is enabled through software, signals of the filter after enabling are added at the output of a speed loop 03 and the input of a current loop 04 of the servo controller, and a rotating speed difference after the trap filter is enabled is collected to carry out FFT operation to obtain a resonant frequency foAnd a corresponding amplitude MoPreliminarily determining the trapped wave depth d to be 1, but the trap wave device does not have the effect at the moment, because the attenuation ratio eta is also 1, adjusting the trapped wave depth d by a bisection method, updating the coefficient in the filter coefficient equation by using the adjusted trapped wave depth d, repeatedly acquiring the enabled rotating speed difference for FFT operation, and performing FFT operation according to the operated resonant frequency foAnd a corresponding amplitude MoComparing with amplitude threshold to obtain ratio when M is satisfiedo＝MthWhen the time is up, the ratio is recorded as etasMaintaining the attenuation ratio etasAnd (4) invariably, adjusting the notch width w by a bisection method, enabling the wave trap according to the adjusted notch width w and the notch depth d, collecting the rotation speed difference after the energy trap is enabled, and performing FFT (fast Fourier transform) operation to obtain the resonant frequency fo1And a corresponding amplitude Mo1Maintaining the attenuation ratio etasConstantly adjusting the notch depth w, wherein M appears along with the adjustment of the notch depth wo1>MthIf the notch depth w has been adjusted, then M is taken to be the latest timeo1＝MthThe notch depth w and the notch width d of (a) are used as optimized notch parameters.
The notch parameter optimization method for resonance suppression of the servo system according to the embodiment is mainly characterized in that:
the method comprises the steps of firstly obtaining an amplitude threshold value corresponding to the maximum value of the resonant frequency when the servo system has no mechanical resonance, then determining an equation of a filter coefficient, wherein the filter coefficient is a coefficient of a difference equation corresponding to a transfer function of the trap, then optimizing a ratio according to a preset sampling frequency, a rotating speed difference set obtained by the sampling frequency, the amplitude threshold value and the filter coefficient equation, wherein the ratio is the ratio of a first trap parameter to a second trap parameter, and finally optimizing the first trap parameter and the second trap parameter according to the optimized ratio, the sampling frequency, the rotating speed difference set, the amplitude threshold value and the filter coefficient equation, so that online optimization of the trap parameter is realized, and an optimized good trap parameter value is obtained. An automatic trapped wave parameter setting scheme is provided, a parameter self-adjusting scheme is designed by combining fast Fourier transform analysis of a motor rotating speed error signal, the trapped wave parameter is continuously adjusted based on the amplitude threshold value, the trapped wave parameter setting is efficiently realized, and the resonance of a servo system is restrained.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above may be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (8)
1. A notch parameter optimization method for resonance suppression of a servo system is characterized by comprising the following steps:
a threshold value obtaining step: obtaining an amplitude corresponding to the maximum value of the resonance frequency when the servo system has no mechanical resonance as an amplitude threshold value;
a filter coefficient determining step: determining a filter coefficient, wherein the filter coefficient is a coefficient of a difference equation corresponding to a transfer function of the wave trap;
a ratio obtaining step: optimizing a ratio according to a preset sampling frequency, a rotating speed difference set obtained by the sampling frequency, an amplitude threshold value and the filter coefficient; wherein the ratio is a ratio of the first notching parameter to the second notching parameter;
a second notch parameter optimization step: optimizing a first notch parameter and a second notch parameter according to the optimized ratio, the sampling frequency, the rotation speed difference set, the amplitude threshold value and the filter coefficient; the rotating speed difference set is a difference set of an actual rotating speed and a preset rotating speed of a servo motor of the servo system;
the ratio obtaining step comprises:
a first coefficient calculation step: calculating and updating the filter coefficient through the current value of the first notch parameter, the current value of the second notch parameter, the sampling frequency and the current rotation speed difference set based on the filter coefficient; wherein initially the first notch parameter and the second notch parameter both have a predetermined value;
a first enabling step: enabling the wave trap according to the updated filter coefficient;
a first rotational speed difference set acquisition step: acquiring a rotation speed difference set of the servo system after the first enabling step at the sampling frequency;
a first amplitude value calculation step: calculating the amplitude corresponding to the current resonant frequency of the servo system according to the current rotating speed difference set;
a first iteration step: when the current amplitude is not equal to the amplitude threshold value, updating the value of the first notch parameter according to a preset rule, and starting to execute the first coefficient calculation step again; when the current amplitude is equal to the preset amplitude, taking the ratio of the current first notch parameter to the second notch parameter as the optimized ratio;
the second notch parameter optimization step includes:
an updating step: updating the value of the second notch parameter according to the preset rule, and updating the value of the first notch parameter according to the updated value of the second notch parameter, so that the ratio of the updated first notch parameter to the updated second notch parameter is kept as the optimized ratio;
a second coefficient calculation step: calculating and updating the filter coefficient through the updated value of the first notch parameter, the updated value of the second notch parameter, the sampling frequency and the current rotation speed difference set based on the filter coefficient;
a second enabling step: enabling the wave trap according to the updated filter coefficient;
a second rotating speed difference set obtaining step: acquiring a rotation speed difference set of the servo system after the second enabling step at the sampling frequency;
a second amplitude value calculation step: calculating the amplitude corresponding to the current resonant frequency of the servo system according to the current rotating speed difference set;
a second iteration step: when the current amplitude is not larger than the amplitude threshold value, the updating step is started again; and when the current amplitude is larger than the amplitude threshold value, respectively taking the values of the current first notching parameter and the second notching parameter in the last updating step as the values of the optimized first notching parameter and the optimized second notching parameter.
2. The method of claim 1 for optimizing notch parameters for servo system resonance suppression, comprising: the preset rule is a dichotomy adjusting method.
3. The method of claim 1, wherein the threshold obtaining step comprises:
a sampling step: when the servo system has no mechanical resonance, acquiring a rotating speed difference set of the servo system at a preset sampling frequency;
an amplitude threshold value obtaining step: obtaining an amplitude threshold value corresponding to the maximum value of the resonant frequency of the servo system according to the rotating speed difference set;
alternatively, the first and second electrodes may be,
and obtaining the amplitude threshold value according to a preset threshold value table.
4. The method of claim 1, wherein the first notch parameter is a notch width and the second notch parameter is a notch depth; or the first notch parameter is notch depth, and the second notch parameter is notch width.
5. A method for servo system resonance suppression, comprising:
judging whether the servo system resonates;
when the servo system is judged to be resonant, starting at least one wave trap; wherein the notching parameters of any one of the activated traps are determined by the notching parameter optimizing method of any one of claims 1 through 4.
6. The method for servo resonance suppression of claim 5, wherein said activating at least one trap comprises: and sequentially starting a preset number of wave traps, wherein after one wave trap is started and the wave trap works in the optimized wave trapping parameters, if the resonance of the servo system is still judged and the number of the wave traps does not reach the preset number, the next wave trap is continuously started.
7. A servo system, comprising:
the encoder is used for acquiring the rotating speed of the servo motor;
a control unit, for starting at least one wave trap when the resonance occurs at the present moment according to the collected rotating speed, and determining the wave trap parameters of the started wave trap by the wave trap parameter optimization method as claimed in any one of claims 1 to 4;
the speed ring is used for setting the output signal of the speed ring after the wave trap is enabled;
the current loop is used for setting the input signal of the current loop after the wave trap is enabled;
the power driving device is used for receiving the signal output by the current loop and outputting a driving signal;
and the servo motor is used for receiving the driving signal to drive.
8. A computer-readable storage medium, characterized by comprising a program executable by a processor to implement the method of any one of claims 1-6.
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| CN111865182B (en) * | 2020-07-15 | 2022-03-01 | 西安交通大学 | High-speed PMSM harmonic suppression control method based on LC filter and adaptive notch filter |
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