IOE OpenIR  > 光电技术研究所博硕士论文
Thesis Advisor蒋平
Degree Grantor中国科学院研究生院
Place of Conferral北京
Keyword机械谐振 快速傅里叶算法 谐振在线抑制 陷波滤波器
Other Abstract






The servo system often faces problems such as replacing the load equipment, changing work environment, and the system's characteristics maybe changed. These will cause the system resonance frequency to shift and make the original resonance suppression measures failed, obstruct the normal use of the system. With the changes in the actual application scenarios, the servo system needs to have a faster response speed and a higher working bandwidth. The existence of resonance limits the increase of system bandwidth and the improvement of system dynamic performance. In order to effectively solve the problem of system resonance frequency shift, this paper presents a method of on-line detection and suppression of mechanical resonance, which can detect and suppress the system resonance in real-time during system operation. The main research content includes the following aspects:

    The paper firstly introduces the wide application of the servo system in engineering, and leads to the resonance problem in the servo system. In order to analyze and study the resonance problem existing in the servo system, the transmission part of the servo system is simplified, a two-mass model is established for analysis, and then the mathematical model of the resonance frequency of the servo system is obtained. The effect of resonance on the performance of the servo system is analyzed through theoretical and simulation experiments.

    Secondly, a quadrature-axis current detection method with fast Fourier algorithm as the core is presented to detect the resonant frequency in the system on-line. The simulation and experiment verify that the on-line resonance detection scheme is effective. Then, a notch filter is used to on-line suppress the servo system resonance. The resonance characteristics of the servo system obtained by analyzing the resonance model of the system are used to perform on-line tuning of the notch filter parameters based on the resonance information obtained from on-line resonance detection. The on-line setting of notch filter parameters and the addition of notch filters are studied. System stability test method. The bilinear transform is used as the digitalization method of the notch filter and the simulation is used to verify the resonance suppression effect of the notch filter.

    Finally, using the experimental turntable as the experimental object, the on-line resonance detection and suppression scheme was implemented programmatically in the experimental turntable system. The experimental results were analyzed to show the effectiveness of the resonance suppression scheme. And the on-line resonance suppression scheme has a certain engineering application value.


Subject Area自动控制技术
Document Type学位论文
Recommended Citation
GB/T 7714
郭高洁. 伺服控制系统谐振实时抑制方法探究[D]. 北京. 中国科学院研究生院,2018.
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伺服控制系统谐振实时抑制方法探究.pdf(2818KB)学位论文 开放获取CC BY-NC-SAApplication Full Text
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