Abstract：In the applications of high performance servo system, high dynamic performance is needed to satisfy control demand. However, the limitations of transmission mechanisms in drive system lead to mechanical resonance. Therefore, this paper builds a model of 2-mass transmission mechanisms. Herein, using motor speed and q axis current, an adaptive observer can be established to estimate the load inertia, the load speed and the load torque. Based on the estimation results, a linear quadratic regulator (LQR) is designed to improve the speed performance, and is implemented in a TMS320F28335DSP based drive system. Related simulation and experimental studies have verified the effectiveness of the adaptive observer and LQR in torsional vibration suppression.
赵寿华, 毛永乐, 许翠翠, 陈阳生. 基于自适应观测器和线性二次型调节器的高性能伺服系统谐振抑制[J]. 电工技术学报, 2016, 31(6): 108-117.
Zhao Shouhua, Mao Yongle, Xu Cuicui, Chen Yangsheng. Torsional Vibration Suppression Based on Adaptive Observer and Linear Quadratic Regulator in High Performance Servo Drives. Transactions of China Electrotechnical Society, 2016, 31(6): 108-117.
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2016, Vol. 31 
