基于PLL型扩张状态观测器的双惯量弹性伺服系统机械谐振抑制方法

doi:10.19595/j.cnki.1000-6753.tces.231093

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摘要

针对双惯量弹性伺服系统存在的机械谐振问题,提出一种基于锁相环型扩张状态观测器(Phase-locked Loop Extended State Observer, PLL-ESO)的机械谐振抑制策略。与常规ESO相比,PLL-ESO方法在相同的极点配置情况下具有更高带宽和更大相位裕度,有助于提高机械谐振的抑制动态特性和稳定性。实验结果表明所提PLL-ESO方法可以有效抑制机械谐振,且相比陷波滤波器和常规ESO方法具有更快谐振抑制速度和更高的抑制精度。同时,实验还对观测器无阻尼固有频率和系统参数鲁棒性进行了分析,验证了PLL-ESO在宽无阻尼固有频率范围内都能抑制机械谐振,且输入参数摄动会影响谐振抑制的快速性和稳态精度。

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	吴春
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关键词 ：双惯量弹性伺服系统, 机械谐振, PLL-ESO, 谐振频率

Abstract：

In a two-inertia servo system, the mechanical resonance is generated due to the presence of an elastic part in connection devices between a motor and a load. Consequently, suppressing mechanical resonance has become a key focus for achieving high-performance servo control. One effective strategy is to use notch filters, which has a capability to attenuate the magnitude at the resonance frequency. Nevertheless, the design of the notch filter requires accurate knowledge of the mechanical resonance frequency, which is a complex task. As a result, the use of the notch filter is limited due to the difficulties in obtaining an accurate mechanical resonance frequency.
The observer-based method for suppressing mechanical resonance does not require identifying the mechanical resonance frequency. Therefore, present studies adopt the observer method for mechanical resonance suppression, where the observer estimates and compensates in real time. Based on the principle of the extended state observer (ESO), a new approach named the phase-locked loop type ESO (PLL-ESO) is proposed. The state equations of the PLL-ESO are designed based on kinetic equations of the system, and the stability of the PLL-ESO is verified based on the pole location of state equations. A comparative analysis is conducted to assess the resonance suppression performance of the ESO and the PLL-ESO. The theoretical analysis indicates that the PLL-ESO method exhibits a larger phase margin of the stabilization and faster dynamic performance in comparison to those of the ESO method.
In the experiment, the aim is to evaluate the effectiveness of PLL-ESO in suppressing mechanical resonance in comparison with other methods, such as notch filters, and the ESO. The resonance frequency is identified by applying a sinusoidal sweep signal to the q-axis current reference. A fast Fourier transform (FFT) analysis of the q-axis current response and the real speed are performed on the sampled data to obtain the frequency characteristics of the two-inertia system. It confirms that mechanical resonance is caused by an elastic connection, and establishes a design procedure for implementing a resonance suppression strategy. Two sets of experiments are conducted under both no load and the rated load conditions. From the experimental results, it can be concluded that the notch filter method can effectively suppress mechanical resonance under no load but cannot achieve complete success in the rated loaded condition. The ESO method successfully suppresses mechanical resonance under no load and the rated load conditions, but its performance does not satisfy a fast dynamic response requirement. Meanwhile, the PLL-ESO method demonstrates superior dynamic performance and achieves faster suppression in comparison with the other two methods. Under no load and the rated load conditions, the PLL-ESO method reduces transient time by 10 ms and 40 ms to reach steady states in comparison with those of the ESO method, respectively. Additionally, experiments with different undamped natural frequencies of the PLL-ESO and the ESO reveal that the PLL-ESO method owns higher bandwidth and larger phase margin for the same pole configuration. Therefore, the PLL-ESO has wider frequency range choices of suitable undamped natural frequencies, especially in addressing the extra issues of inaccurate system parameters and shifted resonance frequencies. This experimental study also investigates the impact of parameter b₀ on the performance of the PLL-ESO. It is observed that decreasing b₀ slows down the system dynamic response but also maintains effective resonance suppression. Conversely, increasing b₀ has a weaker effect on dynamic response but reduces the system ability to suppress the mechanical resonance. In conclusion, the proposed PLL-ESO based method effectively suppresses the mechanical resonance and exhibits better suppression performance in comparison with those of the notch filter method and the ESO method.

Key words： Two-inertia elastic servo system Mechanical resonance PLL-type extended state observer (PLL-ESO) Resonant frequency

PACS:

TM921.2

通讯作者: 吴春男,1987年生,博士,副教授,研究方向为电机控制。E-mail: wuchun@zjut.edu.cn

作者简介: 作者简介王超男,1998年生,硕士研究生,研究方向为电机控制。E-mail：wangchao5166a@outlook.com

引用本文:

吴春, 王超, 郑露华. 基于PLL型扩张状态观测器的双惯量弹性伺服系统机械谐振抑制方法[J]. 电工技术学报, 0, (): 1093-1093. Wu Chun, Wang Chao, Zheng Luhua. A mechanical Resonance Suppression Strategy for Two-inertia Elastic Servo Systems Based on a PLL-type Extended State Observe. Transactions of China Electrotechnical Society, 0, (): 1093-1093.

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