CN112886896A - Method for realizing online self-adaptive notch filter for servo system - Google Patents
Method for realizing online self-adaptive notch filter for servo system Download PDFInfo
- Publication number
- CN112886896A CN112886896A CN202110261967.5A CN202110261967A CN112886896A CN 112886896 A CN112886896 A CN 112886896A CN 202110261967 A CN202110261967 A CN 202110261967A CN 112886896 A CN112886896 A CN 112886896A
- Authority
- CN
- China
- Prior art keywords
- notch filter
- resonance
- frequency
- amplitude
- servo system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H21/00—Adaptive networks
Abstract
The invention belongs to the technical field of on-line identification of resonant frequency by a servo driver, in particular to a method for realizing an on-line self-adaptive notch filter for a servo system, which comprises a notch filter, a controller and the servo system, and comprises the following steps: the method comprises the following steps: determining the resonant frequency according to the q-axis current instruction, collecting 1024 Iqref data at one time by taking the current instruction updating frequency as the sampling frequency, and determining the resonant frequency by utilizing fast FFT calculation; step two: the judgment basis of resonance is as follows: the resonance frequency is greater than the fundamental frequency; the harmonic amplitude is greater than a set threshold value, and if the harmonic amplitude meets the condition, the resonance frequency and the harmonic amplitude are recorded; step three: and (4) continuously repeating the step (2) and the step (3) twice, if the errors of the resonance frequency and the amplitude obtained by continuous three times of calculation are within a certain range, judging that the resonance detection is effective, and if not, judging that the resonance detection is invalid. The online notch filter can realize real-time detection and update the parameters of the notch filter in real time, and is different from a primary detection method of offline resonance detection.
Description
Technical Field
The invention relates to the technical field of on-line identification of resonant frequency by a servo driver, in particular to an implementation method of an on-line adaptive notch filter for a servo system.
Background
In the electromechanical servo system, a motor and a load are connected through a transmission mechanism such as a coupling, a gear or a transmission shaft. The actual transmission device is not an ideal rigid body and has certain flexibility, and the non-rigid bodies can generate elastic deformation when receiving torque, so that a motor and a load generate hysteresis in the transmission process, and a servo system is easy to generate mechanical resonance. When mechanical resonance occurs, a current loop of the servo motor is in a positive and negative alternate saturated output state, the working quality of a load end is seriously influenced by strong vibration of a motor shaft, the service life of the servo motor is influenced, and the gain and the speed loop bandwidth of a servo controller are also limited. Therefore, effective measures must be taken to suppress mechanical resonance.
With the development of servo control digitization and control theory, most control means employ suppression by non-mechanical means, such as low-pass filters, notch filters, biquad filters, and the like. The low-pass filter brings phase lag to the system, seriously affects the gain of the system and limits the bandwidth of the system; the biquad filter depends too much on the accuracy of parameters, and the parameters of the biquad filter which are not accurate enough may cause failure of resonance suppression, even directly cause instability of the system.
The notch filter is a special form of a band-stop filter, the frequency bandwidth of tissue signals of the notch filter is very narrow, the notch filter only generates an attenuation effect on signals of a certain specific frequency, and medium-high frequency resonance of a system can be effectively inhibited. At present, most notch parameter determination methods manually determine the parameters of a notch filter by adding a bode diagram of a test signal acquisition system, but cannot determine and optimize and update the parameters of the notch filter on line in real time.
Disclosure of Invention
Based on the fact that the notch filter proposed in the background technology is a special form of a band elimination filter, the frequency bandwidth of the organization signals is very narrow, the attenuation effect is only generated on the signals of a certain specific frequency, and medium-high frequency resonance of the system can be effectively restrained. The invention provides an online adaptive notch filter implementation method for a servo system, which solves the technical problem that the parameters of a notch filter cannot be determined online and updated in a real-time optimization manner by adding a Berde diagram of a test signal acquisition system and manually determining the parameters of the notch filter in most existing notch parameter determination methods.
The invention provides a method for realizing an online self-adaptive notch filter for a servo system, which comprises a notch filter, a controller and the servo system, and comprises the following steps:
the method comprises the following steps: determining the resonant frequency according to the q-axis current instruction, collecting 1024 Iqref data at one time by taking the current instruction updating frequency as the sampling frequency, and determining the resonant frequency by utilizing fast FFT calculation;
step two: the judgment basis of resonance is as follows: the resonance frequency is greater than the fundamental frequency; the harmonic amplitude is greater than a set threshold value, and if the harmonic amplitude meets the condition, the resonance frequency and the harmonic amplitude are recorded;
step three: continuously repeating the step 2 and the step 3 twice, if the errors of the resonance frequency and the amplitude obtained by continuous three times of calculation are within a certain range, judging that the resonance detection is effective, and if not, judging that the resonance detection is invalid;
step four: totally setting 5 notch filters, and if more than 5 resonances are detected, reserving 5 groups with larger resonance amplitudes;
step five: designing a notch filter, wherein the formula of the notch filter is as follows:
step six: determining values of wn, k1 and k2, wherein Hset is a set threshold, Hmax is a maximum resonance amplitude, w0 is a resonance frequency, and w1 and w2 are frequencies corresponding to Hset respectively;
step seven: the discrete representation of the trap filter needs to digitize the trap filter because the actual servo system is based on digital control, and the trap filter is discretized by adopting the tunin bilinear, and the specific process is as follows:
sampling time is T, bilinear transformation is adopted, and
substituting the transfer function of the wave trap in the time domain to obtain the wave trap in the Z domainThe transfer function of (a) is:
expressed in discrete form as:
y(n)＝-a1y(n-1)-a2y(n-2)+b0x(n)+b1x(n-1)+b2x(n-2)。
preferably, the step five k1 determines the notch depth, and the value range of the notch depth is (0, 1); k2 determines the notch width, wn the resonance frequency.
Preferably, the setting of the k2 parameter in the sixth step is to satisfy:
Bω＝2max{(ω0-ω1)，(ω2-ω0)}；
the k1 parameter is set so that it satisfies:
wherein, alpha is (0.6, 0.9).
The wn parameter should be set such that it satisfies: wn is w 0.
5. Preferably, in the seventh step, x (n) is a filtering input, that is, an output quantity of the speed controller; y (n) is the filter output, i.e. the current loop is given; b0, b1, b2, a1, a2 are parameters of the digital notch filter, and are expressed as follows:
preferably, selecting an adaptive notch filter from the notch filters to update the resonance parameters of the resonance frequency, so as to perform resonance suppression on the servo system, includes: configuring one adaptive notch filter in the notch filter bank to be in an active state; and selecting the self-adaptive notch filter in an active state from the notch filter bank to update the resonance parameters of the resonance frequency so as to perform resonance suppression on the servo system.
Preferably, the resonance suppression condition is: the amplitude corresponding to the maximum value of the resonance frequency is greater than a preset amplitude threshold value; the actual current amplitude corresponding to the resonance frequency is larger than a preset current threshold value, and the resonance frequency is larger than the product of the current bandwidth of the system and a preset multiple coefficient.
Preferably, the mechanical resonance suppression method includes:
s1: taking an output voltage signal of the controller or a displacement signal of a load as a signal to be processed;
s2: taking a signal to be processed as an input signal of a notch filter, adopting an extremum searching algorithm, taking the central frequency of the notch filter as a variable to be searched, and continuously obtaining the amplitude of an output signal of the notch filter until the amplitude of the output signal of the notch filter reaches the maximum, wherein the central frequency of the notch filter is the mechanical resonance frequency of an electromechanical servo system;
s3: taking a signal to be processed as an input signal of the notch filter, taking the mechanical resonance frequency as the central frequency of the notch filter, adopting an extremum search algorithm, taking both a width parameter and a depth parameter of the notch filter as variables to be searched, and continuously obtaining the amplitude of an output signal of the notch filter until the amplitude of the output signal of the notch filter reaches the minimum;
s4: and a notch filter unit is added in the controller, the width parameter and the depth parameter of the notch filter when the amplitude of the output signal is minimum are respectively used as the width parameter and the depth parameter of the notch filter unit, the mechanical resonance frequency is used as the central frequency of the notch filter unit, and the controller is used for controlling the electromechanical servo system.
The beneficial effects of the invention are as follows:
1. the method for realizing the online self-adaptive notch filter for the servo system is suitable for any transmission device connected with a servo motor and a load, does not depend on the accuracy of a mathematical model, only carries out online detection on the amplitude at the resonant frequency, and has strong universality.
2. The invention discloses a method for realizing an online adaptive notch filter for a servo system, which is different from a primary detection method of off-line resonance detection.
3. Compared with the traditional adaptive notch filter resonance suppression method, the mechanical resonance suppression method for the servo system has the advantages of small calculated amount and high real-time property. The key parameters of the notch filter are further optimized through real-time online detection, so that a better resonance suppression effect is obtained. The method has important significance for realizing the suppression of the servo resonance;
4. compared with the traditional method for manually setting trap parameters offline, the method for realizing the online self-adaptive trap filter for the servo system can reduce the amplitude of mechanical resonance to the maximum extent, ensure the long-term stable operation of equipment and prolong the service life of the equipment. In addition, the mechanical resonance suppression method has small calculation amount, so that the structure of a functional device for realizing the mechanical resonance suppression method is relatively simple, and the requirement of the mechanical resonance suppression method on related hardware is low.
The parts of the device not involved are the same as or can be implemented using prior art.
Drawings
FIG. 1 is a schematic diagram of resonance detection of an online adaptive notch filter implementation method for a servo system according to the present invention;
FIG. 2 is a schematic flow chart of a detection method of an online adaptive notch filter implementation method for a servo system according to the present invention.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. For those skilled in the art, it can be understood from the detailed description that the above terms are used in the present patent with reference to fig. 1-2, according to the specific situation, a method for implementing a servo system by using an online adaptive notch filter, including a notch filter, a controller and a servo system, includes the following steps:
the method comprises the following steps: determining the resonant frequency according to the q-axis current instruction, collecting 1024 Iqref data at one time by taking the current instruction updating frequency as the sampling frequency, and determining the resonant frequency by utilizing fast FFT calculation;
step two: the judgment basis of resonance is as follows: the resonance frequency is greater than the fundamental frequency; the harmonic amplitude is greater than a set threshold value, and if the harmonic amplitude meets the condition, the resonance frequency and the harmonic amplitude are recorded;
step three: continuously repeating the step 2 and the step 3 twice, if the errors of the resonance frequency and the amplitude obtained by continuous three times of calculation are within a certain range, judging that the resonance detection is effective, and if not, judging that the resonance detection is invalid;
step four: totally setting 5 notch filters, and if more than 5 resonances are detected, reserving 5 groups with larger resonance amplitudes;
step five: designing a notch filter, wherein the formula of the notch filter is as follows:
step six: determining values of wn, k1 and k2, wherein Hset is a set threshold, Hmax is a maximum resonance amplitude, w0 is a resonance frequency, and w1 and w2 are frequencies corresponding to Hset respectively;
step seven: the discrete representation of the trap filter needs to digitize the trap filter because the actual servo system is based on digital control, and the trap filter is discretized by adopting the tunin bilinear, and the specific process is as follows:
sampling time is T, bilinear transformation is adopted, and
substituting the transfer function of the wave trap in the time domain to obtain the transfer function of the wave trap in the Z domain as follows:
expressed in discrete form as:
y(n)＝-a1y(n-1)-a2y(n-2)+b0x(n)+b1x(n-1)+b2x(n-2)。
in the invention, step five k1 determines the notch depth, and the value range is (0, 1); k2 determines the notch width, wn the resonance frequency.
In the invention, the parameter k2 in step six is set to satisfy the following conditions:
Bω＝2max{(ω0-ω1)，(ω2-ω0)}；
the k1 parameter is set so that it satisfies:
wherein, alpha is epsilon (0.6, 0.9);
the wn parameter should be set such that it satisfies: wn is w 0.
In the seventh step, x (n) is the filtering input, i.e. the output quantity of the speed controller; y (n) is the filter output, i.e. the current loop is given; b0, b1, b2, a1, a2 are parameters of the digital notch filter, and are expressed as follows:
in the invention, selecting an adaptive notch filter from a notch filter to update resonance parameters of resonance frequency so as to carry out resonance suppression on a servo system comprises the following steps: configuring one adaptive notch filter in a notch filter bank to be in an active state; and selecting the self-adaptive notch filter in an active state from the notch filter group to update the resonance parameters of the resonance frequency so as to perform resonance suppression on the servo system.
In the invention, the resonance suppression conditions are as follows: the amplitude corresponding to the maximum value of the resonance frequency is greater than a preset amplitude threshold value; the actual current amplitude corresponding to the resonant frequency is larger than a preset current threshold, and the resonant frequency is larger than the product of the current bandwidth of the system and a preset multiple coefficient.
In the present invention, the mechanical resonance suppression method includes:
s1: taking an output voltage signal of the controller or a displacement signal of a load as a signal to be processed;
s2: taking a signal to be processed as an input signal of a notch filter, adopting an extremum searching algorithm, taking the central frequency of the notch filter as a variable to be searched, and continuously obtaining the amplitude of an output signal of the notch filter until the amplitude of the output signal of the notch filter reaches the maximum, wherein the central frequency of the notch filter is the mechanical resonance frequency of an electromechanical servo system;
s3: taking a signal to be processed as an input signal of a notch filter, taking a mechanical resonance frequency as a central frequency of the notch filter, adopting an extremum search algorithm, taking a width parameter and a depth parameter of the notch filter as variables to be searched, and continuously obtaining an output signal amplitude of the notch filter until the output signal amplitude of the notch filter reaches the minimum;
s4: a notch filter unit is added in a controller, the width parameter and the depth parameter of a notch filter when the amplitude of an output signal is minimum are respectively used as the width parameter and the depth parameter of the notch filter unit, the mechanical resonance frequency is used as the center frequency of the notch filter unit, and the controller is used for controlling an electromechanical servo system.
The method for realizing the online self-adaptive notch filter for the servo system is suitable for any transmission device connected with the servo motor and the load, does not depend on the accuracy of a mathematical model, only carries out online detection on the amplitude at the resonant frequency, and has strong universality.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. An online adaptive notch filter implementation method for a servo system comprises a notch filter, a controller and the servo system, and is characterized by comprising the following steps:
the method comprises the following steps: determining the resonant frequency according to the q-axis current instruction, collecting 1024 Iqref data at one time by taking the current instruction updating frequency as the sampling frequency, and determining the resonant frequency by utilizing fast FFT calculation;
step two: the judgment basis of resonance is as follows: the resonance frequency is greater than the fundamental frequency; the harmonic amplitude is greater than a set threshold value, and if the harmonic amplitude meets the condition, the resonance frequency and the harmonic amplitude are recorded;
step three: continuously repeating the step 2 and the step 3 twice, if the errors of the resonance frequency and the amplitude obtained by continuous three times of calculation are within a certain range, judging that the resonance detection is effective, and if not, judging that the resonance detection is invalid;
step four: totally setting 5 notch filters, and if more than 5 resonances are detected, reserving 5 groups with larger resonance amplitudes;
step five: designing a notch filter, wherein the formula of the notch filter is as follows:
step six: determining values of wn, k1 and k2, wherein Hset is a set threshold, Hmax is a maximum resonance amplitude, w0 is a resonance frequency, and w1 and w2 are frequencies corresponding to Hset respectively;
step seven: the discrete representation of the trap filter needs to digitize the trap filter because the actual servo system is based on digital control, and the trap filter is discretized by adopting the tunin bilinear, and the specific process is as follows:
sampling time is T, bilinear transformation is adopted, and
substituting the transfer function of the wave trap in the time domain to obtain the transfer function of the wave trap in the Z domain as follows:
expressed in discrete form as:
y(n)＝-a1y(n-1)-a2y(n-2)+b0x(n)+b1x(n-1)+b2x(n-2)。
2. the method for realizing the on-line adaptive notch filter for the servo system as claimed in claim 1, wherein said step five k1 is to determine the notch depth, whose value range is (0, 1); k2 determines the notch width, wn the resonance frequency.
3. The method for realizing the on-line adaptive notch filter for the servo system as claimed in claim 1, wherein the parameter k2 in the sixth step is set to satisfy the following conditions:
Bω＝2max{(ω0-ω1)，(ω2-ω0)}；
the k1 parameter is set so that it satisfies:
wherein, alpha is epsilon (0.6, 0.9);
the wn parameter should be set such that it satisfies: wn is w 0.
4. The method for realizing the on-line adaptive notch filter for the servo system according to claim 1, wherein in the seventh step, x (n) is a filtering input, namely an output quantity of the speed controller; y (n) is the filter output, i.e. the current loop is given; b0, b1, b2, a1, a2 are parameters of the digital notch filter, and are expressed as follows:
5. the method as claimed in claim 1, wherein the selecting an adaptive notch filter from the notch filters to update the resonance parameters of the resonance frequency to perform resonance suppression on the servo system comprises: configuring one adaptive notch filter in the notch filter bank to be in an active state; and selecting the self-adaptive notch filter in an active state from the notch filter bank to update the resonance parameters of the resonance frequency so as to perform resonance suppression on the servo system.
6. The method of claim 5, wherein the resonance suppression condition is: the amplitude corresponding to the maximum value of the resonance frequency is greater than a preset amplitude threshold value; the actual current amplitude corresponding to the resonance frequency is larger than a preset current threshold value, and the resonance frequency is larger than the product of the current bandwidth of the system and a preset multiple coefficient.
7. The method for realizing the on-line adaptive notch filter for the servo system according to claim 6, wherein the mechanical resonance suppression method comprises:
s1: taking an output voltage signal of the controller or a displacement signal of a load as a signal to be processed;
s2: taking a signal to be processed as an input signal of a notch filter, adopting an extremum searching algorithm, taking the central frequency of the notch filter as a variable to be searched, and continuously obtaining the amplitude of an output signal of the notch filter until the amplitude of the output signal of the notch filter reaches the maximum, wherein the central frequency of the notch filter is the mechanical resonance frequency of an electromechanical servo system;
s3: taking a signal to be processed as an input signal of the notch filter, taking the mechanical resonance frequency as the central frequency of the notch filter, adopting an extremum search algorithm, taking both a width parameter and a depth parameter of the notch filter as variables to be searched, and continuously obtaining the amplitude of an output signal of the notch filter until the amplitude of the output signal of the notch filter reaches the minimum;
s4: and a notch filter unit is added in the controller, the width parameter and the depth parameter of the notch filter when the amplitude of the output signal is minimum are respectively used as the width parameter and the depth parameter of the notch filter unit, the mechanical resonance frequency is used as the central frequency of the notch filter unit, and the controller is used for controlling the electromechanical servo system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261967.5A CN112886896A (en) | 2021-03-10 | 2021-03-10 | Method for realizing online self-adaptive notch filter for servo system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261967.5A CN112886896A (en) | 2021-03-10 | 2021-03-10 | Method for realizing online self-adaptive notch filter for servo system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112886896A true CN112886896A (en) | 2021-06-01 |
Family
ID=76054165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110261967.5A Pending CN112886896A (en) | 2021-03-10 | 2021-03-10 | Method for realizing online self-adaptive notch filter for servo system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112886896A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160118665A (en) * | 2015-04-02 | 2016-10-12 | 서울대학교산학협력단 | Apparatus for detecting and suppressing resonance in servo system and method thereof |
| CN107394784A (en) * | 2017-08-30 | 2017-11-24 | 无锡信捷电气股份有限公司 | A kind of online resonance of notch filter suppresses parameter optimization method |
| CN107748577A (en) * | 2017-10-19 | 2018-03-02 | 哈尔滨工业大学 | The mechanical resonant suppressing method of electromechanical servo system based on extremum seeking algorithm |
| CN109713968A (en) * | 2018-12-18 | 2019-05-03 | 蚌埠学院 | The suppressing method of cutting machine Servodrive Mechanical Resonance |
| CN109995300A (en) * | 2019-04-23 | 2019-07-09 | 深圳市海浦蒙特科技有限公司 | For the inhibition of servo-system resonance, notch parameter optimization method, system and medium |
| CN111262496A (en) * | 2020-04-30 | 2020-06-09 | 南京达风数控技术有限公司 | Method for online suppressing resonance of servo control system and servo control system |
| CN111934591A (en) * | 2020-07-16 | 2020-11-13 | 武汉久同智能科技有限公司 | Mechanical resonance suppression method based on self-adaptive notch |
-
2021
- 2021-03-10 CN CN202110261967.5A patent/CN112886896A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160118665A (en) * | 2015-04-02 | 2016-10-12 | 서울대학교산학협력단 | Apparatus for detecting and suppressing resonance in servo system and method thereof |
| CN107394784A (en) * | 2017-08-30 | 2017-11-24 | 无锡信捷电气股份有限公司 | A kind of online resonance of notch filter suppresses parameter optimization method |
| CN107748577A (en) * | 2017-10-19 | 2018-03-02 | 哈尔滨工业大学 | The mechanical resonant suppressing method of electromechanical servo system based on extremum seeking algorithm |
| CN109713968A (en) * | 2018-12-18 | 2019-05-03 | 蚌埠学院 | The suppressing method of cutting machine Servodrive Mechanical Resonance |
| CN109995300A (en) * | 2019-04-23 | 2019-07-09 | 深圳市海浦蒙特科技有限公司 | For the inhibition of servo-system resonance, notch parameter optimization method, system and medium |
| CN111262496A (en) * | 2020-04-30 | 2020-06-09 | 南京达风数控技术有限公司 | Method for online suppressing resonance of servo control system and servo control system |
| CN111934591A (en) * | 2020-07-16 | 2020-11-13 | 武汉久同智能科技有限公司 | Mechanical resonance suppression method based on self-adaptive notch |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107394784B (en) | Online resonance suppression parameter optimization method for notch filter | |
| CN108832863A (en) | A kind of servo-system resonance suppressing method of double observers | |
| CN105489225B (en) | A kind of feed-forward type narrowband active noise control system of the on-line identification containing secondary channel | |
| CN109995300B (en) | Method, system and medium for resonance suppression and notch parameter optimization of servo system | |
| CN114142781B (en) | Method for adjusting PI parameters of current loop of pre-filter permanent magnet synchronous motor | |
| US11029650B2 (en) | Machine learning device, control system, and machine learning method | |
| JPWO2014167852A1 (en) | Motor drive device | |
| CN109245167B (en) | Control method for improving grid-connected current quality of LCL type grid-connected inverter under weak grid | |
| WO2012056868A1 (en) | Electric motor control device | |
| CN114710081B (en) | Online resonance suppression method based on extended state observer and improved wave trap | |
| CN112886896A (en) | Method for realizing online self-adaptive notch filter for servo system | |
| CN110646518A (en) | Output control method of ultrasonic transducer and related equipment | |
| Xia et al. | Optimal online resonance suppression in a drive system based on a multifrequency fast search algorithm | |
| CN113467236B (en) | Method for time lag compensation of error signal | |
| CN110955176A (en) | Servo system tail end residual vibration suppression method based on model tracking control | |
| CN112448633B (en) | Flywheel energy storage machine side control system and method based on improved ADRC | |
| CN115173834B (en) | Multistage series trap optimization design method based on notch parameter quantitative analysis | |
| Tzes et al. | Adaptive precompensators for flexible-link manipulator control | |
| CN110716534A (en) | Industrial process oscillation detection method based on self-tuning variational modal decomposition | |
| CN112332809B (en) | Fractional order elliptic filter design method for amplitude unattenuated balanced phase | |
| CN113067506B (en) | Permanent magnet synchronous motor periodic disturbance suppression method based on inner model equivalent input interference | |
| CN111251901B (en) | PR (pulse repetition) jitter suppression method based on stationary point calibration | |
| CN111913506A (en) | Terminal vibration suppression method based on equivalent input interference and input shaper | |
| CN114253139B (en) | Nano-positioning platform control system based on switching structure | |
| CN116300476B (en) | Resonance suppression method based on rotating speed loop LADRC controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |