Abstract：The elastic connection devices in the Servo motor drive system lead to mechanical resonance. This paper proposes a mechanical resonance suppression method based on speed negative feedback. This method compensates the speed including high-frequency components of resonance frequency to the electromagnetic torque, increasing the system damping coefficient and ensuring system performance simultaneously. The parameter design method is given in the paper, analyzing the influence of the feedback coefficient on the mechanical resonance suppression by using the transfer function of load speed/electromagnetic torque and the transfer function of load speed/given speed firstly. In order to obtain the optimal control performance, this paper proposed the use of trade-off coefficient to evaluate the feedback coefficient, weigh the suppression effect and the overall response of the system to obtain the optimal range of feedback coefficient; based on the phase relationship between the increment of speed and output electromagnetic torque, the quantitative relationship between the range of constant filter time and the stiffness coefficient of the shaft and the resonance frequency is obtained. The robustness of the speed negative feedback suppression method to load inertia change is proved, which provides theoretical guidance for engineering application of the method. The results of simulation and experiment show that the speed negative feedback can effectively suppress the mechanical resonance according to the parameter design method proposed in this paper, and the method has strong robustness to the change of load inertia.
杨影, 张杰鸣, 徐国卿, 王爽, 汪飞. 转速负反馈在伺服系统机械谐振抑制中的应用研究[J]. 电工技术学报, 2018, 33(23): 5459-5469.
Yang Ying, Zhang Jieming, Xu Guoqing, Wang Shuang, Wang Fei. Application Research on Speed Negative Feedback in Mechanical Resonance Suppression in Servo System. Transactions of China Electrotechnical Society, 2018, 33(23): 5459-5469.
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2018, Vol. 33 
