CN114460838A - Mechanical tail end jitter suppression method, position ring and driving device - Google Patents
Mechanical tail end jitter suppression method, position ring and driving device Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The invention provides a mechanical tail end jitter suppression method, a position ring and a driving device, relates to the field of mechanical control, and can solve the problem that two important servo performance indexes of in-place jitter and in-place time cannot be considered in the prior art. The mechanical tail end jitter suppression method comprises the following steps: a jitter compensation path is added in the position ring, and a suppression signal output for suppressing jitter is generated through the jitter compensation path; superimposing the suppression signal output of the jitter compensation path onto the output of the control path of the position loop to form a position loop output signal; wherein the output of the control path is obtained by: in a control path of the position loop, subtracting a feedback position from an instruction position to obtain a position deviation, and multiplying the position deviation by a position loop gain to obtain the output of the control path; and adjusting the suppression signal output of the jitter compensation channel according to the jitter and noise conditions of the mechanical tail end, so as to realize jitter suppression and noise suppression of the mechanical tail end.
Description
Technical Field
The invention relates to the field of mechanical control, in particular to a mechanical tail end jitter suppression method, a position ring and a driving device.
Background
In production equipment, a load execution mechanism made of light or flexible materials has the advantages of light weight, compact structure, high safety and the like, and is gradually applied to the fields of production and manufacturing, robot arms and the like. However, the flexible load includes an inherent vibration mode, and the residual oscillation of the end during the motion positioning seriously affects the positioning accuracy and the working efficiency.
Aiming at the problem of mechanical terminal jitter suppression, the mainstream suppression methods in the industrial control industry at present are an input shaping technology, a DampingFilter (damping filter) and a command low-pass filtering method respectively. The methods can effectively reduce the terminal jitter after the machine is in place, but the methods modify the motion instruction of the user terminal, cause instruction lag and increase the in-place time.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a mechanical end jitter suppression method, a position loop and a driving apparatus, so as to solve the problem that two important servo performance indexes of the in-place jitter and the in-place time cannot be considered at the same time.
The invention discloses a mechanical tail end jitter suppression method in a first aspect, which comprises the following steps:
a jitter compensation path is added in the position ring, and a suppression signal output for suppressing jitter is generated through the jitter compensation path;
superimposing the suppression signal output of the jitter compensation path onto the output of the control path of the position loop to form a position loop output signal; wherein the output of the control path is obtained by: in the control path of the position loop, subtracting a feedback position from a command position to obtain a position deviation, and multiplying the position deviation by a position loop gain to obtain the output of the control path;
and adjusting the suppression signal output of the jitter compensation channel according to the jitter and noise conditions of the mechanical tail end to realize jitter suppression and noise suppression of the mechanical tail end.
According to the method of the first aspect of the present invention, the generating a suppressed signal output suppressing jitter through a jitter compensation path comprises: acquiring a differential signal of position feedback through a first-order differentiator; injecting vibration harmonic waves into the obtained differential signals according to the angular frequency of the mechanical end jitter to obtain jitter-suppressed signals; and multiplying the signal for inhibiting the jitter by a jitter inhibition adjusting gain to obtain the output of a jitter compensation channel.
According to the method of the first aspect of the invention, the transfer function of the first order differentiator is:
the transfer function of the vibration harmonics is:
wherein, the parameter s is the Laplace transform complex frequency, the parameter K is the bandwidth angular frequency of the first-order differentiator, and the parameter w is the angular frequency of the mechanical end jitter.
According to the method of the first aspect of the invention, said adjusting said suppression signal output of said jitter compensation path in accordance with jitter and noise conditions at the mechanical end comprises:
setting parameters: acquiring a mechanical tail end shaking angular frequency value of the position ring, an initial value of position ring gain, an initial value of shaking suppression adjustment gain and an initial value of bandwidth angular frequency of the first-order differentiator;
operating equipment, observing whether the mechanical tail end shakes, and if the mechanical tail end shakes, increasing the value of the shake suppression and adjustment gain; and if the mechanical tail end jitter does not occur, observing whether the noise is large, if the noise is large, reducing the value of the bandwidth angular frequency of the first-order differentiator, and if the noise meets the preset requirement, finishing the adjustment.
According to the method of the first aspect of the present invention, the parameter setting comprises: acquiring an angular frequency value of mechanical tail end jitter through a measuring device; setting an initial value of the position loop gain; setting an initial value of the jitter suppression adjustment gain to be 2 times an angular frequency value of mechanical end jitter; setting an initial value of the bandwidth angular frequency of the first-order differentiator as a value of the position loop gain.
A second aspect of the invention discloses a position loop comprising a control path and a jitter compensation path; the control path is used for subtracting the feedback position from the instruction position to obtain a position deviation, and multiplying the position deviation by the position loop gain to obtain the output of the control path; the jitter compensation path is used for generating a suppression signal output for suppressing jitter, and adjusting the suppression signal output according to the jitter and noise conditions of the mechanical end, so that the jitter suppression and noise suppression of the mechanical end are realized.
According to the position loop of the second aspect of the present invention, the shake compensation path includes: a first order differentiator for acquiring a differential signal of the position feedback; a harmonic injection unit, configured to inject a vibration harmonic into the obtained differential signal, so as to obtain a signal with jitter suppressed; and the jitter suppression and adjustment gain unit is used for multiplying the signal for obtaining the suppressed jitter by the jitter suppression and adjustment gain to obtain the output of the jitter compensation channel.
According to the position ring of the second aspect of the present invention, the jitter suppressing and adjusting gain unit is further configured to increase a value of a jitter suppressing and adjusting gain when a mechanical end jitter occurs; the first-order differentiator is also used for reducing the angular frequency value of the first-order differentiator when the noise is observed to be larger than the preset requirement.
In a third aspect, the invention discloses a drive device comprising a position ring as defined in any one of the preceding claims.
A fourth aspect of the present invention discloses a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps in a method for mechanical end jitter suppression as described in any one of the above.
According to the mechanical end jitter suppression scheme provided by the invention, the jitter compensation path is added to the position ring, the jitter suppression signal output for suppressing jitter is generated through the jitter compensation path, the signal is superposed on the output of the control path of the position ring to serve as the position ring output signal, then the suppression signal output of the jitter compensation path is adjusted according to the jitter and noise conditions of the mechanical end, and the jitter suppression and noise suppression of the mechanical end are realized, so that the problem of the mechanical end jitter after the servo is in place can be solved under the condition of not changing a servo command. Compared with the prior art in the background art, the mechanical end jitter suppression method does not cause instruction lag, and can reduce the in-place time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for mechanical end jitter suppression according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a position loop including a control path and a jitter compensation path in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart illustrating an adjustment method for implementing a mechanical end jitter suppression algorithm within a servo position loop, according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present embodiment provides a method for suppressing mechanical end jitter, as shown in fig. 1, the method includes:
101. a jitter compensation path is added in the position ring, and a suppression signal output for suppressing jitter is generated through the jitter compensation path;
102. superimposing the suppression signal output of the jitter compensation path onto the output of the control path of the position loop to form a position loop output signal; wherein the output of the control path is obtained by: in the control path of the position loop, subtracting a feedback position from a command position to obtain a position deviation, and multiplying the position deviation by a position loop gain to obtain the output of the control path;
103. and adjusting the suppression signal output of the jitter compensation channel according to the jitter and noise conditions of the mechanical tail end to realize jitter suppression and noise suppression of the mechanical tail end.
The method of the present embodiment can be applied to a position closed loop servo system composed of a servo motor, a comparison circuit, a servo amplification circuit, a speed detector, and a position detector mounted on a stage. The system automatically detects the actual displacement of the worktable, compares the actual displacement with the command value and controls the actual displacement by using the difference.
The method of the present embodiment is also applicable to other motion servo systems that include a position loop, such as the common three-loop control system, which is a current loop, a speed loop, and a position loop in that order from the inside out.
In the mechanical end jitter suppression method of the embodiment, a jitter compensation path is added to the position loop, a suppression signal output for suppressing jitter is generated through the jitter compensation path, the signal is superposed on the output of the original control path of the position loop to serve as a position loop output signal, then the suppression signal output of the jitter compensation path is adjusted according to the jitter and noise conditions of the mechanical end, and the jitter suppression and noise suppression of the mechanical end are realized, so that the problem of the mechanical end jitter after the servo is in place can be solved under the condition of not changing a servo command. The mechanical tail end jitter suppression method does not cause instruction lag, and can reduce the in-place time.
In some embodiments, generating a jitter-suppressed signal output through the jitter compensation path specifically includes: acquiring a differential signal of position feedback through a first-order differentiator; injecting vibration harmonic waves into the obtained differential signals according to the angular frequency of the mechanical end jitter to obtain jitter-suppressed signals; and multiplying the signal for inhibiting the jitter by a jitter inhibition adjusting gain to obtain the output of a jitter compensation channel. The vibration harmonic is generated based on the measured vibration condition of the mechanical end, and specifically, the vibration harmonic is based on the vibration condition capable of compensating the vibration of the mechanical end.
Fig. 2 shows a position loop including a control path and a jitter compensation path according to this embodiment, where a parameter Kp is a control Gain of the servo position loop, a parameter K is a bandwidth angular frequency of a first-order differentiator, a parameter w is an angular frequency of a mechanical end vibration, s is a laplace transform complex frequency, and a parameter Gain is a tuning Gain of jitter suppression.
The position loop of fig. 2 has two paths, a control path and a jitter compensation path, and the open loop transfer function of the control path is shown as follows: g(s) ═ Kp. The control path first subtracts the position feedback from the position command to obtain a position deviation, and then multiplies the position deviation by a position loop gain Kp to obtain the output of the control loop.
The jitter compensation path comprises three links, namely a first-order differentiator, a harmonic injection link and a jitter suppression adjustment gain. The first-order differentiator is used for acquiring low-noise differential signals, the harmonic injection link is used for injecting vibration harmonics, and the jitter suppression and gain adjustment is used for adjusting vibration damping.
Firstly, a differential signal of position feedback is obtained through a first-order differentiator, and a transfer function of the first-order differentiator is shown as the following formula:
injecting a differential signal of position feedback into vibration harmonic to obtain a signal for inhibiting vibration, wherein the transfer function of the vibration harmonic is shown as the following formula:
and finally, multiplying the jitter suppression adjustment gain to obtain the output of the jitter compensation channel. The output of the position loop is the speed loop command, which is equal to the output of the control path plus the output of the jitter compensation path.
In some embodiments, as shown in fig. 3, said adjusting said suppression signal output of the jitter compensation path according to jitter and noise conditions at the mechanical end comprises:
setting parameters: acquiring a mechanical tail end shaking angular frequency value of a position ring, an initial value of position ring gain, an initial value of shaking suppression adjustment gain and an initial value of bandwidth angular frequency of a first-order differentiator;
operating equipment, observing whether the mechanical tail end shakes, and if the mechanical tail end shakes, increasing the value of shake suppression and adjustment gain; and if the mechanical tail end jitter does not occur, observing whether the noise is large, if the noise is large, reducing the value of the bandwidth angular frequency of the first-order differentiator, and if the noise meets the preset requirement, ending the adjustment.
The parameter setting comprises: acquiring an angular frequency value of mechanical tail end jitter through a measuring device; setting an initial value of the position loop gain; setting an initial value of the jitter suppression adjustment gain to be 2 times an angular frequency value of mechanical end jitter; setting an initial value of the bandwidth angular frequency of the first-order differentiator as a value of the position loop gain.
In an adjustment method of the end jitter suppression algorithm of this embodiment, first, parameters of the position loop are configured, including a mechanical end jitter angular frequency value, a position loop gain value, a jitter suppression gain value, and a bandwidth angular frequency of a first-order differentiator. The angular frequency value of the mechanical end-shake can be obtained by an external measuring device (the external measuring device is not in the scope of patent protection), the position loop gain is set by default to 40, the shake suppression gain is set by default to 2 times the value of the mechanical end-shake angular frequency, and the bandwidth angular frequency of the first-order differentiator is set by default to the gain value of the position loop. And then, operating and observing whether the mechanical tail end shakes or not, if the mechanical tail end shakes, increasing the gain value of shaking suppression, if the tail end shakes, observing whether the noise is large or not, if the noise is large, reducing the angular frequency value of the first-order differentiator, and if the noise meets the condition, finishing the adjustment.
The terminal jitter suppression method of the embodiment provides an algorithm structure for realizing mechanical terminal jitter suppression in a servo position ring, realizes mechanical in-place jitter suppression, has no hysteresis influence of instruction filtering, and reduces mechanical motion in-place time; and an adjusting mode for realizing a mechanical tail end jitter suppression algorithm in the servo position ring is also provided, so that the performance adjustment of in-place jitter, in-place time and noise intensity can be optimized in application.
The embodiment of the invention also provides a position ring, which comprises a control path and a jitter compensation path; the control path is used for subtracting the feedback position from the instruction position to obtain a position deviation, and multiplying the position deviation by the position loop gain to obtain the output of the control path; the jitter compensation path is used for generating a suppression signal output for suppressing jitter, and adjusting the suppression signal output according to the jitter and noise conditions of the mechanical end, so that the jitter suppression and noise suppression of the mechanical end are realized.
According to the position ring of the present embodiment, the shake compensation path includes: a first order differentiator for acquiring a differential signal of the position feedback; a harmonic injection unit, configured to inject a vibration harmonic into the obtained differential signal, so as to obtain a signal with jitter suppressed; and the jitter suppression and adjustment gain unit is used for multiplying the signal for obtaining the suppressed jitter by the jitter suppression and adjustment gain to obtain the output of the jitter compensation channel.
According to the position ring of the embodiment of the invention, the jitter suppression and adjustment gain unit is further used for increasing the value of the jitter suppression and adjustment gain when the mechanical tail end jitters; the first-order differentiator is also used for reducing the angular frequency value of the first-order differentiator when the noise is observed to be larger than the preset requirement.
The embodiment of the invention also provides a driving device which comprises the position ring.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the steps in a mechanical end jitter suppression method according to any of the foregoing embodiments.
According to the mechanical end jitter suppression scheme provided by the invention, the jitter compensation channel is added to the position ring, the jitter suppression signal output for suppressing jitter is generated through the jitter compensation channel, the signal is superposed on the output of the control channel of the position ring to serve as the position ring output signal, then the suppression signal output of the jitter compensation channel is adjusted according to the jitter and noise conditions of the mechanical end, and the jitter suppression and noise suppression of the mechanical end are realized, so that the problem of the mechanical end jitter after the servo is in place can be solved under the condition of not changing a servo command. Compared with the prior art in the background art, the mechanical end jitter suppression method does not cause instruction lag, and can reduce the in-place time.
The mechanical tail end jitter suppression scheme provided by the invention can effectively suppress mechanical tail end jitter after servo is in place without changing servo instructions; the algorithm for suppressing the mechanical terminal jitter does not cause instruction lag, and reduces the in-place time.
It should be noted that the technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present description should be considered. The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of mechanical tip jitter suppression, comprising:
a jitter compensation path is added in the position ring, and a suppression signal output for suppressing jitter is generated through the jitter compensation path;
superimposing the suppression signal output of the jitter compensation path onto the output of the control path of the position loop to form a position loop output signal; wherein the output of the control path is obtained by: in the control path of the position loop, subtracting a feedback position from a command position to obtain a position deviation, and multiplying the position deviation by a position loop gain to obtain the output of the control path;
and adjusting the suppression signal output of the jitter compensation channel according to the jitter and noise conditions of the mechanical tail end to realize jitter suppression and noise suppression of the mechanical tail end.
2. The mechanical end jitter suppression method of claim 1, wherein generating a jitter-suppressed suppression signal output through a jitter compensation path comprises:
acquiring a differential signal of position feedback through a first-order differentiator;
injecting vibration harmonic waves into the obtained differential signals according to the angular frequency of the mechanical end jitter to obtain jitter-suppressed signals;
and multiplying the signal for inhibiting the jitter by a jitter inhibition adjusting gain to obtain the output of a jitter compensation channel.
3. The mechanical end jitter suppression method of claim 2,
the transfer function of the first order differentiator is:
the transfer function of the vibration harmonics is:
wherein the content of the first and second substances,
the parameter s is the laplace transform complex frequency, the parameter K is the bandwidth angular frequency of the first order differentiator, and the parameter w is the angular frequency of the mechanical end dither.
4. A method of mechanical tip shake suppression according to claim 2 or 3, wherein said adjusting the suppression signal output of the shake compensation path according to shake and noise conditions of the mechanical tip comprises:
setting parameters: acquiring a mechanical tail end shaking angular frequency value of the position ring, an initial value of position ring gain, an initial value of shaking suppression adjustment gain and an initial value of bandwidth angular frequency of the first-order differentiator;
operating equipment, observing whether the mechanical tail end shakes, and if the mechanical tail end shakes, increasing the value of the shake suppression and adjustment gain; and if the mechanical tail end jitter does not occur, observing whether the noise is large, if the noise is large, reducing the value of the bandwidth angular frequency of the first-order differentiator, and if the noise meets the preset requirement, finishing the adjustment.
5. The mechanical tip jitter suppression method of claim 4, wherein the parameter setting comprises:
acquiring an angular frequency value of mechanical tail end jitter through a measuring device;
setting an initial value of the position loop gain;
setting an initial value of the jitter suppression adjustment gain to be 2 times an angular frequency value of mechanical end jitter;
setting an initial value of the bandwidth angular frequency of the first-order differentiator as a value of the position loop gain.
6. A position loop comprising a control path and a jitter compensation path;
the control path is used for subtracting the feedback position from the instruction position to obtain a position deviation, and multiplying the position deviation by the position loop gain to obtain the output of the control path;
the jitter compensation path is used for generating a suppression signal output for suppressing jitter, and adjusting the suppression signal output according to the jitter and noise conditions of the mechanical end, so that the jitter suppression and noise suppression of the mechanical end are realized.
7. The position ring of claim 6, wherein the jitter compensation path comprises:
a first order differentiator for acquiring a differential signal of the position feedback;
a harmonic injection unit, configured to inject a vibration harmonic into the obtained differential signal, so as to obtain a signal with jitter suppressed;
and the jitter suppression and adjustment gain unit is used for multiplying the signal for obtaining the suppressed jitter by the jitter suppression and adjustment gain to obtain the output of the jitter compensation channel.
8. The position ring of claim 7, wherein the jitter suppression adjustment gain unit is further configured to increase a value of a jitter suppression adjustment gain when a mechanical end jitter occurs; the first-order differentiator is also used for reducing the angular frequency value of the first-order differentiator when the noise is observed to be larger than the preset requirement.
9. A drive arrangement comprising a position ring according to any of claims 6-8.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of a method for mechanical end-shake suppression according to any one of claims 1 to 5.
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| CN115319760A (en) * | 2022-10-11 | 2022-11-11 | 广东隆崎机器人有限公司 | Mechanical arm tail end jitter suppression method and device, electronic equipment and storage medium |
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