Vibration Suppression for Flexible Servo System Direct-Driven by PMSM under Non-Zero Initial Condition
Huang Zhanghao1, Chen Wanqing2, Shi Dan3, Wang Yunchong1, Shen Jianxin1
1. College of Electrical Engineering Zhejiang University Hangzhou 310027 China; 2. JNG Technology Co. Ltd Jiaxing 314001 China; 3. Zhejiang Polytechnic University of Mechanical and Electrical Engineering Hangzhou 310053 China
Abstract：Flexible servo systems driven by permanent magnet synchronous motors (PMSMs) often experience significant elastic deformations during servo positioning, resulting in residual vibrations characterized by multiple modes and low damping after motion completion. These vibrations, typically featuring high-order dynamics, nonlinearity, and strong coupling, degrade the transient positioning accuracy and operational efficiency of servo systems. Furthermore, persistent vibrations can induce mechanical fatigue or even lead to safety-critical failures. As a result, effective vibration suppression has become a key topic in modern high-performance servo drives. Conventional input shaping techniques are primarily designed to suppress residual vibrations generated during servo motion, but are insufficient to mitigate non-zero initial vibrations before motion initiation. In addition, current flexible servo systems face several limitations: (1) the absence of an integrated mechanism for dynamic characteristic identification and coordinated vibration suppression targeting non-zero initial vibrations; (2) an inherent trade-off between computational efficiency and estimation accuracy in existing online frequency acquisition methods; (3) firm reliance on additional vibration sensors for vibration suppression. This paper proposes a composite control method that integrates motor self-sensing technology with input shapers. This method relies on the PMSM rotor position and stator current signals to achieve online vibration characteristic identification and coordinated vibration suppression, without requiring offline frequency acquisition and offline redesign of input shapers. Specifically, based on the dynamic model of the PMSM direct-drive flexible system, a torsional torque observer is constructed. The vibration frequency and phase of the lowest-order mode of the flexible beam are then identified online using a second-order generalized integrator frequency-locked loop (SOGI-FLL). The zero-vibration under initial condition (ZV-IC) shaper and the zero-vibration and derivative under initial condition (ZVD-IC) shaper are designed. Thus, integrated functionality is provided, comprising real-time extraction of vibration characteristics, online tuning of input shaper parameters, and active suppression of non-zero initial vibrations. The traditional fast Fourier transform (FFT) method requires 40 seconds of sampling. In contrast, the proposed motor self-sensing-based vibration characteristic identification method completes frequency estimation in only 2.12 seconds, achieving a relative frequency estimation error of 0.25% compared to the FFT baseline while reducing the estimation time by 94.7%. The proposed initial condition input shaper effectively suppressed non-zero initial vibrations, shortening the overall identification process duration by 80.8%. Both ZV-IC and ZVD-IC shapers demonstrate remarkable suppression performance against sudden disturbances that generate non-zero initial vibrations. ZVD-IC exhibits superior robustness to parameter identification errors and further enhances residual vibration suppression by an additional 69.33%. Overall, the proposed integrated control scheme provides a sensorless, computationally efficient, and robust solution for suppressing non-zero initial vibrations in PMSM-driven flexible systems. It offers substantial practical value for enhancing performance in advanced servo-driven engineering equipment.
黄彰浩, 陈万庆, 史丹, 王云冲, 沈建新. 非零初始条件下永磁同步电机直驱挠性伺服系统振动抑制策略[J]. 电工技术学报, 2026, 41(6): 1948-1961.
Huang Zhanghao, Chen Wanqing, Shi Dan, Wang Yunchong, Shen Jianxin. Vibration Suppression for Flexible Servo System Direct-Driven by PMSM under Non-Zero Initial Condition. Transactions of China Electrotechnical Society, 2026, 41(6): 1948-1961.
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2026, Vol. 41 
