Abstract：In the AC servo system, the existence of elastic connecting devices such as couplings and gearboxes will result in residual vibration at the end of the load when the servo motor is operated at high speed, which will inevitably affect the positioning accuracy. In severe cases, it will cause machine tools and processing equipment damage, so the vibration during positioning must be suppressed. Aiming at this problem, this paper firstly models the servo positioning system as the motor-load double inertia model, then analyzes the cause of the vibration from the frequency domain angle, and proposes the positioning end vibration suppression algorithm based on input shaping technology, which will input the command and a series of pulses. The sequence is convolved and a new input command is sent to the system. Finally, through simulation and experiment, the three input shaping algorithms of ZV method, zero vibration and derivative input shaper (ZVD) and EI method (extra insensitivity input shaper, EI) are compared in terms of suppression effect, time lag and robustness in different case of load inertia.
杨明, 曹佳, 徐殿国. 基于输入整形技术的交流伺服系统抖动抑制[J]. 电工技术学报, 2018, 33(21): 4979-4986.
Yang Ming, Cao Jia, Xu Dianguo. Suppression of Vibration of AC Servo System Based on Input Shaping Technique. Transactions of China Electrotechnical Society, 2018, 33(21): 4979-4986.
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2018, Vol. 33 
