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

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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.

Key words： High performance servo system suppression of mechanical resonance 2-mass system adaptive observer on-line linear quadratic regulator

Received: 28 March 2014 Published: 01 April 2016

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TM383.4

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	Zhao Shouhua
	Mao Yongle
	Xu Cuicui
	Chen Yangsheng

Cite this article:

Zhao Shouhua,Mao Yongle,Xu Cuicui等. Torsional Vibration Suppression Based on Adaptive Observer and Linear Quadratic Regulator in High Performance Servo Drives[J]. Transactions of China Electrotechnical Society, 2016, 31(6): 108-117.

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https://dgjsxb.ces-transaction.com/EN/ OR https://dgjsxb.ces-transaction.com/EN/Y2016/V31/I6/108

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