计算技术与自动化
計算技術與自動化
계산기술여자동화
COMPUTING TECHNOLOGY AND AUTOMATION
2014年
1期
19-23
,共5页
伺服系统%机械谐振%负载转矩反馈%卡尔曼滤波器
伺服繫統%機械諧振%負載轉矩反饋%卡爾曼濾波器
사복계통%궤계해진%부재전구반궤%잡이만려파기
servo system%mechanical resonance%load torque feedback%kalman filter
柔性环节带来的机械谐振是制约伺服系统性能提升的一个关键问题。通过对伺服系统机械谐振的原理阐述，分析引起伺服系统机械谐振的两种原因。利用加速度反馈的方法可以等效增大电机惯量，从而抑制机械谐振。本文提出一种基于卡尔曼滤波器的惯量比可调负载转矩反馈方法，并通过确定最优惯量比进而计算得到负载转矩反馈系数。基于卡尔曼滤波器设计负载转矩观测器，再将观测到的负载转矩反馈到电流环给定中。通过matlab对观测器及负载转矩反馈抑制机械谐振效果进行仿真验证。
柔性環節帶來的機械諧振是製約伺服繫統性能提升的一箇關鍵問題。通過對伺服繫統機械諧振的原理闡述，分析引起伺服繫統機械諧振的兩種原因。利用加速度反饋的方法可以等效增大電機慣量，從而抑製機械諧振。本文提齣一種基于卡爾曼濾波器的慣量比可調負載轉矩反饋方法，併通過確定最優慣量比進而計算得到負載轉矩反饋繫數。基于卡爾曼濾波器設計負載轉矩觀測器，再將觀測到的負載轉矩反饋到電流環給定中。通過matlab對觀測器及負載轉矩反饋抑製機械諧振效果進行倣真驗證。
유성배절대래적궤계해진시제약사복계통성능제승적일개관건문제。통과대사복계통궤계해진적원리천술，분석인기사복계통궤계해진적량충원인。이용가속도반궤적방법가이등효증대전궤관량，종이억제궤계해진。본문제출일충기우잡이만려파기적관량비가조부재전구반궤방법，병통과학정최우관량비진이계산득도부재전구반궤계수。기우잡이만려파기설계부재전구관측기，재장관측도적부재전구반궤도전류배급정중。통과matlab대관측기급부재전구반궤억제궤계해진효과진행방진험증。
The mechanical resonance caused by flexible connection is a constraint of servo system performance.With ex-pounding the mechanism of mechanical resonance,two reasons causing vibration are analyzed.The mechanical resonance can be suppressed by acceleration feedback which can increase the motor equivalent inertia.In this paper,an adjustable inertia ratio method of load torque feedback based on Kalman filter is presented,and the coefficient of load torque feedback can be calculated by the optimal inertia ratio.After that,a load torque observer is designed by Kalman filter,then the observed torque is feedback to the reference of current loop.The performances of the observer and the mechanical resonance sup-pressed by load torque feedback are verified by matlab simulation.
