Abstract：For the torsional vibration phenomenon caused by the elastic connection device in the servo motor drive system,a suppression strategy based on shaft torque disturbance observer is proposed in this paper, the parameter design method and the proof of robustness is given also. First observe the shaft torque using the traditional disturbance observer in the two-mass elastic system model, and add the high-pass filter to eliminate the direct curren component of the shaft torque observation, obtain the frequency of the torsional vibration, than feedback compensation of the electromagnetic torque, the purpose is increase the system damping coefficient and ensuring system performance simultaneously. Based on the phase relationship between the speed increment and the torque increment, the quantitative relationship between the range of the observer bandwidth and the frequency of the torsional vibration and the inertia ratio is obtained, It is proved that the robustness of the shaft torque disturbance observer, The range of the feedback coefficient is given also. The simulation and experimental results show that the suppression strategy can effectively suppress the torsional vibration, the method has strong robustness to the change of load inertia.
杨影, 李之珂, 王爽, 徐国卿, 汪飞. 基于轴转矩扰动观测器的伺服系统扭振抑制研究[J]. 电工技术学报, 2018, 33(15): 3556-3563.
Yang Ying, Li Zhike, Wang Shuang, Xu Guoqing, Wang Fei. Research on Torsional Vibration Suppression of Servo System Based on Shaft Torque Disturbance Observer. Transactions of China Electrotechnical Society, 2018, 33(15): 3556-3563.
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2018, Vol. 33 
