CN116505810B - Method, device, equipment and medium for suppressing oscillation of wave trap and servo system - Google Patents
Method, device, equipment and medium for suppressing oscillation of wave trap and servo system Download PDFInfo
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Classifications
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The application discloses a method, a device, equipment and a medium for using a wave trap and suppressing oscillation of a servo system, wherein the method for using the wave trap comprises the following steps: calculating a correction bandwidth based on the notch center frequency, the notch depth, and the notch width; calculating the natural frequency, damping coefficient and the natural frequency and damping coefficient of the numerator of the trap transfer function; z-transforming the transfer function of the trap to obtain each coefficient of the transfer function after Z-transforming; and taking various coefficients of the Z-transformed transfer function as trap parameters to be input into a trap. The servo control system oscillation suppression method comprises the following steps: detecting a resonance point and collecting following error data at the resonance point; judging whether the resonance point needs notch processing or not; if yes, calculating trap parameters corresponding to resonance points based on the trap using method. The method for using the wave trap provided by the application can trap the resonance point in the specific frequency band to a specified depth, and avoid overlarge phase lag.
Description
Technical Field
The present application relates to the field of servo control technology, and more particularly, to a method for using a trap, a method, an apparatus, a device and a readable storage medium for suppressing oscillation of a servo control system.
Background
At present, a servo control system is widely used in the manufacturing field, but in the servo control system, when the frequency of a driving force is equal to the natural frequency of the system, the amplitude of forced vibration of the system is increased, and the mechanical resonance phenomenon is difficult to avoid. And mechanical resonance is a major factor affecting the control accuracy and control performance of the servo control system. And is therefore particularly important for oscillation suppression of servo control systems. In the prior art, the mechanical resonance is usually suppressed by adding compensation means in the servo control loop. According to the method, parameters and structures of a servo motor or a controller are not required to be modified, and only a wave trap is required to be added in a system transmission link. However, the trap added in the prior art has only four adjustable parameters, and cannot meet higher performance requirements. Specifically, it is possible to specify only the notch width (or quality factor), but not the notch depth, which defaults to infinity. Since numerical accuracy problems all have a maximum notch depth, the deeper the notch depth, the greater the phase lag at the notch frequency. At resonance points in the range of 200-400Hz, it is in most cases not necessary to use infinite notch depths. Only the designated depth needs to be trapped. The above requirements cannot be met with the use of the trap of the above-described form.
Accordingly, in view of the above-mentioned problems, it is desirable to provide a trap using method, a servo control system oscillation suppression method, a device, an apparatus, and a readable storage medium.
Disclosure of Invention
The application aims to provide a wave trap using method, a servo control system oscillation suppression method, a device, equipment and a readable storage medium, which can trap a resonance point in a specific frequency band to a specified depth, avoid overlarge phase lag and have greater applicability.
In order to achieve the above purpose, the technical scheme provided by the application is as follows:
in a first aspect, the present application provides a method of using a trap, comprising:
calculating a correction bandwidth based on the notch center frequency, the notch depth, and the notch width;
calculating the molecular natural frequency, the molecular damping coefficient, the denominator natural frequency and the denominator damping coefficient of the trap transfer function based on the correction bandwidth, the trap center frequency and the trap depth;
z-transforming the trap transfer function to obtain various coefficients of the trap transfer function after Z-transforming;
and taking various coefficients of the trap transfer function after Z transformation as trap parameters to be input into the trap.
In one or more embodiments, the formula for calculating the correction bandwidth is:
wherein Bw is the notch width, and bw_new is the correction bandwidth;is the center frequency; />The frequency of the frequency warping phenomenon occurs in the frequency spectrum image; t is the sampling period.
In one or more embodiments, the formula for calculating the molecular natural frequency, the molecular damping coefficient, the denominator natural frequency and the denominator damping coefficient of the trap transfer function based on the correction bandwidth, the trap center frequency and the trap depth is as follows:
wherein ,the natural frequencies of the numerator and the denominator respectively; />Respectively the damping coefficients of the numerator and the denominator; />Is twice the difference between the larger frequency value of the two corresponding frequency values at the 3dB positions on the two sides of the center frequency and the center frequency; />After the amplitude-frequency response data is obtained by FFT, the frequency of the maximum value point of the amplitude-frequency response higher than the amplitude-frequency response threshold value is obtained; />Is the value of the maximum corresponding to the center frequency.
In one or more embodiments, the Z-transforming the trap transfer function includes: applying a modified bilinear transformation formula to perform Z transformation on the trap transfer function;
wherein, the modified bilinear transformation formula is:
in a second aspect, the present application provides a servo control system oscillation suppression method, including:
detecting a resonance point and collecting following error data at the resonance point;
judging whether the resonance point needs notch processing or not based on the following error data;
if yes, calculating trap parameters corresponding to the resonance points based on the using method of the trap.
In one or more embodiments, the determining whether notch processing is needed based on the following error data includes:
setting a amplitude-frequency response threshold;
performing fast Fourier transform on the following error data to obtain amplitude-frequency response data;
and judging whether notch processing is needed or not based on the amplitude-frequency response threshold value and the amplitude-frequency response data.
In one or more embodiments, the determining whether notch processing is needed based on the amplitude-frequency response threshold and the amplitude-frequency response data includes:
the amplitude-frequency response data is larger than or equal to the amplitude-frequency response threshold value, and then notch processing is needed;
and if the amplitude-frequency response data is smaller than the amplitude-frequency response threshold value, notch processing is not needed.
In one or more embodiments, the method further comprises: transmitting the calculated trap parameters to corresponding interfaces for enabling;
wherein the corresponding interface is a scomm interface.
In a third aspect, the present application provides a servo control system oscillation suppression device, comprising:
the acquisition module is used for detecting resonance points and acquiring follow-up error data at the resonance points;
the judging module is used for judging whether notch processing is needed or not based on the following error data;
and the calculation module is used for calculating corresponding trap parameters for the resonance points needing trap processing.
In a fourth aspect, the present application provides a computer device comprising: the system comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, so that the method is executed.
In a fifth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer instructions for causing a computer to perform the aforementioned method.
Compared with the prior art, the method for using the notch filter, the method, the device and the equipment for suppressing oscillation of the servo control system and the readable storage medium calculate the correction bandwidth based on the notch center frequency, the notch depth and the notch width; calculating the molecular natural frequency, the molecular damping coefficient, the denominator natural frequency and the denominator damping coefficient of the trap transfer function based on the correction bandwidth, the trap center frequency and the trap depth; z-transforming the trap transfer function to obtain various coefficients of the trap transfer function after Z-transforming; and taking various coefficients of the trap transfer function after Z transformation as trap parameters to be input into the trap. The using method of the trap can be used for designating the trap depth, so that the problem of overlarge phase lag at the trap frequency is avoided, higher performance requirements are realized, and the trap has higher adaptability.
Drawings
FIG. 1 is a schematic diagram of an application scenario of a method for suppressing oscillation of a servo control system according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a trap in accordance with an embodiment of the present application;
FIG. 3 is a flow chart of oscillation suppression of a servo control system according to an embodiment of the present application;
FIG. 4 is a block diagram of a servo control system oscillation suppression device according to an embodiment of the present application;
FIG. 5 is a block diagram of an electronic device in an embodiment of the application;
FIG. 6 is a block diagram of an algorithm of a trap in an embodiment of the present application;
fig. 7 is a bode diagram of an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the application is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the application is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
In order to facilitate understanding of the technical solution of the present application, the following first explains in detail the technical terms that may occur in the present application.
Servo: an automatic control system that allows the position, orientation, state, etc. of an object to be output, and that can be changed in response to any change in the input amount (or given value). Among the automatic control systems, a system capable of responding to a control signal with a certain accuracy is called a servo system. The main task of the servo is to amplify, transform, regulate and control the power according to the requirement of the control command, so that the torque, speed and position output by the driving device are controlled flexibly and conveniently.
A wave trap: the wave trap is a resonant circuit or an inductor of an automatic switch, and can automatically lengthen or shorten the length of the antenna according to the frequency of a signal when the wave trap is applied to antenna engineering. Filters in radio receivers are dedicated to eliminating certain unwanted signals to reduce interference to the wanted signals. The principle is that the oscillator is an LC oscillator, when the coil of the oscillator is close to another resonant circuit and the oscillation frequency of the oscillator is close to the resonant frequency of the loop to be measured, the oscillation is weakened due to the absorption of oscillation energy, and the oscillation frequency of the notch table is changed until the oscillation is weakened to the lowest point, so that the oscillation frequency is the resonant frequency of the loop to be measured.
Amplitude-frequency response: the ratio of the amplitude of the output signal after the signal has passed through the system to the amplitude of the signal at the time it is input is called the amplitude-frequency response.
Phase-frequency response: from a physical perspective, the phase-frequency response reflects the processing time of the system for signals of different frequencies.
FFT (Fast Fourier Transform ): a general term for efficient, fast computing methods using computer-computed Discrete Fourier Transforms (DFT), is simply FFT. The fast fourier transform was proposed in 1965 by j.w. kuril and t.w. drawing bases. The method can greatly reduce the multiplication times required by a computer for calculating the discrete Fourier transform, and particularly, the more the number of transformed sampling points N is, the more remarkable the FFT algorithm calculation amount is saved.
DFT (Discrete Fourier Transform ): the fourier analysis method is the most basic method of signal analysis, and the fourier transform is the core of fourier analysis, through which signals are transformed from the time domain to the frequency domain, so as to study the frequency spectrum structure and change rule of the signals. The discrete fourier transform is a form in which the fourier transform takes on discrete form in both the time and frequency domains, transforming samples of the time domain signal as samples in the Discrete Time Fourier Transform (DTFT) frequency domain. Formally, the sequences at both ends of the transformation (in the time and frequency domains) are of finite length, and in practice both sets of sequences should be considered as the main sequence of values of the discrete periodic signal. Even if a discrete signal of finite length is DFT, it should be regarded as being periodic-extended into a periodic signal and then transformed. In practical applications, a fast discrete fourier transform is typically employed to efficiently compute the DFT.
Transfer function: the transfer function refers to the ratio of the laplace transform (or z-transform) of the amount of response (i.e., output) to the laplace transform of the amount of excitation (i.e., input) of the linear system at zero initial conditions. The transfer function is one of the basic mathematical tools describing the dynamic characteristics of a linear system, and the main research methods of classical control theory, namely a frequency response method and a root locus method, are all based on the transfer function. Transfer function is one of the main tools to study classical control theory.
Z transformation: is a mathematical transformation of a discrete sequence, commonly used to solve a linear time invariant differential equation. Z transformation has become an important tool for analyzing the problem of a linear time-invariant discrete system, and has wide application in the fields of digital signal processing, computer control systems and the like, and is an important tool for analyzing the problem of a linear time-invariant discrete time system.
Bode diagram: is a graphical representation of the frequency response of the system. The bode plot consists of an amplitude plot and a phase angle plot, both plotted in logarithmic scale of frequency, so the bode plot is often also referred to as a logarithmic graph. The Bode diagram can be drawn by computer software (such as MATLAB) or an instrument, and can also be drawn by self. The Bode diagram can be used for finding the magnitude and the phase of the system gain under different frequencies, the trend of the magnitude and the phase of the gain along with the frequency change can be also found, and the system stability can be judged. The graph of the bode plot is related to the gain, number of poles, zeros and position of the system.
Referring to fig. 1, a schematic diagram of an application scenario of the oscillation suppression method of the servo control system provided by the present application is shown. In the implementation scenario shown in fig. 1, it includes a non-real-time layer 101, a real-time layer 102, and a transport layer 103. Specifically, the non-real-time layer 101 performs data acquisition through the thread 1, and the acquired following error detects the amplitude-frequency response of the resonance point through the fast fourier transform through the thread 2. Based on the set amplitude-frequency response threshold, whether the resonance point needs to be subjected to notch processing is judged. If yes, the non-real-time layer 101 thread 2 calculates the trap parameters and transmits the parameters to the Scomm interface of the real-time layer 102 through the transmission layer 103, and finally the real-time layer 102 completes the enabling of the trap parameters.
It should be noted that the method for using the wave trap and suppressing the oscillation of the servo control system according to the embodiment of the present application may be applied to the device for suppressing the oscillation of the servo control system according to the embodiment of the present application. The servo control system oscillation suppression device may be disposed at the terminal. Terminals may include, but are not limited to, PCs (Personal Computer, personal computers), PDAs (tablet computers), smartphones, smart wearable devices, and the like.
Fig. 2 is a schematic flow chart of a trap according to an embodiment of the application. The using method of the wave trap specifically comprises the following steps:
s201: calculating a correction bandwidth based on the notch center frequency, the notch depth, and the notch width;
it should be noted that, the formula for calculating the correction bandwidth is:
wherein Bw is the notch width, and bw_new is the correction bandwidth;is the center frequency; />The frequency of the frequency warping phenomenon occurs in the frequency spectrum image; t is the sampling period.
In an exemplary embodiment, the calculating the correction bandwidth based on the notch center frequency, the notch depth, and the notch width includes: acquiring the center frequency, the depth and the width of the notch at the resonance point of the to-be-notched; and carrying out the formula, and calculating the correction bandwidth.
S202: calculating the molecular natural frequency, the molecular damping coefficient, the denominator natural frequency and the denominator damping coefficient of the trap transfer function based on the correction bandwidth, the trap center frequency and the trap depth;
the formulas for calculating the molecular natural frequency, the molecular damping coefficient, the denominator natural frequency and the denominator damping coefficient of the trap transfer function based on the correction bandwidth, the trap center frequency and the trap depth are as follows:
wherein ,respectively molecular divisionThe natural frequency of the mother; />Respectively the damping coefficients of the numerator and the denominator; />Is twice the difference between the larger frequency value of the two corresponding frequency values at the 3dB positions on the two sides of the center frequency and the center frequency; />After the amplitude-frequency response data is obtained by FFT, the frequency of the maximum value point of the amplitude-frequency response higher than the amplitude-frequency response threshold value is obtained; />Is the value of the maximum corresponding to the center frequency.
S203: z-transforming the trap transfer function to obtain various coefficients of the trap transfer function after Z-transforming;
the Z-transforming the trap transfer function includes: applying a modified bilinear transformation formula to perform Z transformation on the trap transfer function;
wherein, the modified bilinear transformation formula is:
s204: and taking various coefficients of the trap transfer function after Z transformation as trap parameters to be input into the trap.
The formula after Z-transforming the trap transfer function is:
wherein each coefficient of the numerator denominator, N 0 、N 1 、N 2 、D 0 、D 1 As a trap parameter, as shown in fig. 6, the trap is input to enable.
Fig. 3 is a schematic flow chart of oscillation suppression of a servo control system according to an embodiment of the application. The oscillation suppression method of the servo control system specifically comprises the following steps:
s301: detecting a resonance point and collecting following error data at the resonance point;
it should be noted that the following error refers to an amplitude difference between the output of the control system and the desired output, that is, an amplitude error of the system.
S302: judging whether the resonance point needs notch processing or not based on the following error data;
in an exemplary embodiment, the determining whether the resonance point needs a notch processing based on the following error data includes: setting a amplitude-frequency response threshold; performing fast Fourier transform on the following error data to obtain amplitude-frequency response data; and judging whether notch processing is needed or not based on the amplitude-frequency response threshold value and the amplitude-frequency response data.
Specifically, if the amplitude-frequency response data is greater than or equal to the amplitude-frequency response threshold, notch processing is required; if the amplitude-frequency response data is less than the amplitude-frequency response threshold, no notch processing is required.
S303: if yes, calculating trap parameters corresponding to the resonance points based on the trap using method.
In an exemplary embodiment, the calculating, based on the trap usage method, trap parameters corresponding to the resonance points includes: calculating a correction bandwidth based on the notch center frequency, the notch depth, and the notch width; calculating the molecular natural frequency, the molecular damping coefficient, the denominator natural frequency and the denominator damping coefficient of the trap transfer function based on the correction bandwidth, the trap center frequency and the trap depth; z-transforming the trap transfer function to obtain various coefficients of the trap transfer function after Z-transforming; and taking various coefficients of the trap transfer function after Z transformation as trap parameters.
The servo control system oscillation suppression method further comprises the step of transmitting the calculated trap parameters to corresponding interfaces for enabling, wherein the corresponding interfaces are scomm interfaces.
In a specific embodiment, the method for suppressing oscillation of a servo control system provided by the application comprises the following specific steps:
step 1: detecting a resonance point, setting a amplitude-frequency response threshold value, and judging whether the resonance point needs notch processing or not based on FFT conversion results of follow error data acquired at the resonance point;
specifically, setting an amplitude-frequency response threshold value to be 200Hz, and performing fast Fourier transform on the acquired following error data of a resonance point to obtain amplitude-frequency response data of 500Hz, wherein the amplitude-frequency response data is 500Hz, and the amplitude-frequency response data is more than 200Hz, so that the resonance point is judged to need to be subjected to notch processing; and performing fast Fourier transform on the following error data acquired by the other resonance point to obtain amplitude-frequency response data of 100Hz, and judging that notch processing is not needed for the resonance point because 100 is smaller than 200.
Step 2: for the resonance points needing to be subjected to notch processing, calculating a notch parameter based on the notch center frequency, the notch depth and the notch width of the resonance points;
after amplitude-frequency response data are obtained by FFT, the center frequency of the notch is calculated to be 500Hz, the bandwidth is 100Hz, and the depth is 40dB;taking 100Hz
The formula will be:carry over to the new trap transfer function:the resulting Z domain expression is:
corresponding parameters:
in the above-mentioned method, the step of,
step 3: and taking various coefficients of the trap transfer function after Z transformation as trap parameters to be input into the trap for enabling.
The calculated center frequency, bandwidth, depth andthe result is carried into the above equation, and the amplitude and phase frequency response (bode plot) is calculated as shown in fig. 7. It can be seen from the figure that the depth of the filter at 500Hz is exactly 40dB. It can be seen that the effect that the notch depth can be set is achieved.
Referring to fig. 4, based on the same inventive concept as the aforementioned method for suppressing oscillation of a servo control system, an embodiment of the application provides an oscillation suppression device 400 of a servo control system, which includes an acquisition module 401, a judgment module 402, and a calculation module 403. Specifically, the acquisition module 401 is configured to detect a resonance point, and acquire following error data at the resonance point; the judging module 402 is configured to judge whether notch processing is required based on the following error data; the calculation module 403 is configured to calculate, for a resonance point requiring notch processing, a corresponding notch parameter.
Referring to fig. 5, an embodiment of the present application further provides an electronic device 500, where the electronic device 500 includes at least one processor 501, a memory 502 (e.g., a nonvolatile memory), a memory 503, and a communication interface 504, and the at least one processor 501, the memory 502, the memory 503, and the communication interface 504 are connected together via a bus 505. The at least one processor 501 is configured to invoke the at least one program instruction stored or encoded in the memory 502 to cause the at least one processor 501 to perform the various operations and functions of the trap usage and servo control system oscillation suppression method described in various embodiments of the present specification.
In embodiments of the present description, electronic device 500 may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smart phones, tablet computers, cellular phones, personal Digital Assistants (PDAs), handsets, messaging devices, wearable electronic devices, consumer electronic devices, and the like.
Embodiments of the present application also provide a computer readable medium having computer-executable instructions carried thereon, which when executed by a processor, may be used to implement the various operations and functions of the trap usage and servo control system oscillation suppression methods described in the various embodiments of the present specification.
The computer readable medium in the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, systems, and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing descriptions of specific exemplary embodiments of the present application are presented for purposes of illustration and description. It is not intended to limit the application to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the application and its practical application to thereby enable one skilled in the art to make and utilize the application in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the application be defined by the claims and their equivalents.
Claims (8)
1. A method of using a trap, comprising:
calculating a correction bandwidth based on the notch center frequency, the notch depth, and the notch width;
calculating the molecular natural frequency, the molecular damping coefficient, the denominator natural frequency and the denominator damping coefficient of the trap transfer function based on the trap center frequency and the trap depth;
z-transforming the trap transfer function to obtain various coefficients of the trap transfer function after Z-transforming;
inputting various coefficients of the trap transfer function after Z transformation into the trap as trap parameters;
the formula for calculating the correction bandwidth is as follows:
；
wherein Bw is the notch width, and bw_new is the correction bandwidth;is the center frequency; />The frequency of the frequency warping phenomenon occurs in the frequency spectrum image; t is a sampling period;
the formula for calculating the molecular natural frequency, the molecular damping coefficient, the denominator natural frequency and the denominator damping coefficient of the trap transfer function based on the trap center frequency and the trap depth is as follows:
；
wherein ,，/>the natural frequencies of the numerator and the denominator respectively; />Respectively the damping coefficients of the numerator and the denominator;is twice the difference between the larger frequency value of the two corresponding frequency values at the 3dB positions on the two sides of the center frequency and the center frequency; />After the amplitude-frequency response data is obtained by FFT, the frequency of the maximum value point of the amplitude-frequency response higher than the amplitude-frequency response threshold value is obtained; />The value is the maximum value corresponding to the center frequency;
the Z-transforming the trap transfer function includes: applying a modified bilinear transformation formula to perform Z transformation on the trap transfer function;
wherein, the modified bilinear transformation formula is:。
2. a servo control system oscillation suppression method, characterized by comprising:
detecting a resonance point and collecting following error data at the resonance point;
judging whether the resonance point needs notch processing or not based on the following error data;
if so, calculating the trap parameters corresponding to the resonance points based on the method as claimed in claim 1.
3. The servo control system oscillation suppression method of claim 2, wherein the determining whether notch processing is required based on the following error data comprises:
setting a amplitude-frequency response threshold;
performing fast Fourier transform on the following error data to obtain amplitude-frequency response data;
and judging whether notch processing is needed or not based on the amplitude-frequency response threshold value and the amplitude-frequency response data.
4. The servo control system oscillation suppression method of claim 3, wherein said determining whether notch processing is required based on said amplitude-frequency response threshold and said amplitude-frequency response data comprises:
the amplitude-frequency response data is larger than or equal to the amplitude-frequency response threshold value, and then notch processing is needed;
and if the amplitude-frequency response data is smaller than the amplitude-frequency response threshold value, notch processing is not needed.
5. The servo control system oscillation suppression method of claim 2, wherein the method further comprises: transmitting the calculated trap parameters to corresponding interfaces for enabling;
wherein the corresponding interface is a scomm interface.
6. A servo control system oscillation suppression device, characterized by comprising:
the acquisition module is used for detecting resonance points and acquiring follow-up error data at the resonance points;
the judging module is used for judging whether notch processing is needed or not based on the following error data;
a calculation module for calculating, for a resonance point requiring notch processing, a notch parameter corresponding to the resonance point based on the method described in claim 1.
7. A computer device, comprising: a memory and a processor in communication with each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of any of claims 1-5.
8. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310788125.4A CN116505810B (en) | 2023-06-30 | 2023-06-30 | Method, device, equipment and medium for suppressing oscillation of wave trap and servo system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106681152A (en) * | 2017-01-22 | 2017-05-17 | 西安理工大学 | Method of using PSO optimized trap parameters for servo resonance suppression |
| 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 |
| CN114710081A (en) * | 2022-03-18 | 2022-07-05 | 合肥工业大学 | Online resonance suppression method based on extended state observer and improved trap |
| CN115173834A (en) * | 2022-07-12 | 2022-10-11 | 北京航空航天大学宁波创新研究院 | Multistage series trap optimization design method based on trapped wave parameter quantitative analysis |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106681152A (en) * | 2017-01-22 | 2017-05-17 | 西安理工大学 | Method of using PSO optimized trap parameters for servo resonance suppression |
| 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 |
| CN114710081A (en) * | 2022-03-18 | 2022-07-05 | 合肥工业大学 | Online resonance suppression method based on extended state observer and improved trap |
| CN115173834A (en) * | 2022-07-12 | 2022-10-11 | 北京航空航天大学宁波创新研究院 | Multistage series trap optimization design method based on trapped wave parameter quantitative analysis |
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