基于锁相环型扩张状态观测器的双惯量弹性伺服系统机械谐振抑制方法

doi:10.19595/j.cnki.1000-6753.tces.231093

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (22362 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract In a two-inertia servo system, mechanical resonance is generated due to an elastic part in the connection device between a motor and a load. Consequently, suppressing mechanical resonance has become a focus for achieving high-performance servo control. One effective strategy is notch filters, which can attenuate the magnitude of the resonance frequency. Nevertheless, the design of the notch filter requires accurate knowledge of the mechanical resonance frequency, which is a complex task. As a result, the use of the notch filter is limited due to the difficulties in obtaining an accurate mechanical resonance frequency.
The observer-based method for suppressing mechanical resonance does not require identifying the mechanical resonance frequency. Present studies adopt the observer method for mechanical resonance suppression, where the observer estimates and compensates in real time. According to the extended state observer (ESO), a new approach named the phase-locked loop type ESO (PLL-ESO) is proposed. The state equations of the PLL-ESO are designed based on the system’s kinetic equations, and the stability of the PLL-ESO is verified based on the pole location of state equations. A comparative analysis assesses the resonance suppression performance of the ESO and the PLL-ESO. The theoretical analysis indicates that the PLL-ESO method exhibits a larger phase margin of stabilization and faster dynamic performance than the ESO method.
The experiment aims to evaluate the effectiveness of PLL-ESO in suppressing mechanical resonance compared with notch filters and the ESO. The resonance frequency is identified by applying a sinusoidal sweep signal to the q-axis current reference. A fast Fourier transform (FFT) analysis of the q-axis current response and the real speed are performed on the sampled data to obtain the frequency characteristics of the two-inertia system. It confirms that an elastic connection causes mechanical resonance. A design procedure is established for implementing a resonance suppression strategy. Experiments are conducted under no load and rated load conditions. The results show that the notch filter method can effectively suppress mechanical resonance under no load but cannot wholly succeed in the rated load condition. The ESO method successfully suppresses mechanical resonance under no load and rated load conditions. However, its performance does not satisfy a fast dynamic response requirement. The PLL-ESO method demonstrates superior dynamic performance and achieves faster suppression. Under no load and rated load conditions, the PLL-ESO method reduces transient time by 10 ms and 40 ms to reach steady states compared with the ESO method. Additionally, experiments with different undamped natural frequencies of the PLL-ESO and the ESO reveal that the PLL-ESO method owns high bandwidth and large phase margin for the same pole configuration. Therefore, the PLL-ESO has vast frequency range choices of suitable undamped natural frequencies, especially in addressing inaccurate system parameters and shifted resonance frequencies. The impact of parameter b₀ on the performance of the PLL-ESO is also analyzed. It is observed that decreasing b₀ slows down the system’s dynamic response while maintaining effective resonance suppression. Conversely, increasing b₀ has a weak effect on dynamic response but reduces the suppression of mechanical resonance. In conclusion, compared with the notch filter and ESO methods, the proposed PLL-ESO-based method effectively suppresses mechanical resonance.

Key words： Two-inertia elastic servo system mechanical resonance phase locked loop-type extended state observer (PLL-ESO) resonant frequency

Received: 11 July 2023

PACS:

TM921.2

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Wu Chun
	Wang Chao
	Zheng Luhua
	Nan Yurong

Cite this article:

Wu Chun,Wang Chao,Zheng Luhua等. A Mechanical Resonance Suppression Strategy for Two-Inertia Elastic Servo Systems Based on a Phase Locked Loop-Type Extended State Observe[J]. Transactions of China Electrotechnical Society, 2024, 39(18): 5680-5691.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.231093 OR https://dgjsxb.ces-transaction.com/EN/Y2024/V39/I18/5680

[1] Tian Minghe, Wang Bo, Yu Yong, et al.Adaptive active disturbance rejection control for uncertain current ripples suppression of PMSM drives[J]. IEEE Transactions on Industrial Electronics, 2024, 71(3): 2320-2331.
[2] 杨明, 刘铠源, 陈扬洋, 等. 基于PI-Lead控制的永磁同步电机双环位置伺服系统[J]. 电工技术学报, 2023, 38(8): 2060-2072.
Yang Ming, Liu Kaiyuan, Chen Yangyang, et al.Permanent magnet synchronous motor dual-loop position servo system based on PI-lead control[J]. Transactions of China Electrotechnical Society, 2023, 38(8): 2060-2072.
[3] 卜飞飞, 郭子韬, 顾毅君, 等. 基于改进型降阶观测器的永磁直驱伺服电动机转矩扰动抑制策略[J]. 电工技术学报, 2022, 37(16): 4104-4115.
Bu Feifei, Guo Zitao, Gu Yijun, et al.Torque disturbance suppression strategy of permanent magnet direct drive servo motor based on improved reduced order observer[J]. Transactions of China Electro- technical Society, 2022, 37(16): 4104-4115.
[4] Chen Yangyang, Yang Ming, Sun Yongping, et al.A modified Bi-quad filter tuning strategy for mechanical resonance suppression in industrial servo drive systems[J]. IEEE Transactions on Power Electronics, 2021, 36(9): 10395-10408.
[5] 杨帆, 赵希梅, 金鸿雁, 等. 基于GPI观测器的永磁同步电机鲁棒谐振预测电流控制[J/OL]. 电工技术学报, 2023, DOI: 10.19595/j.cnki.1000-6753.tces. 230331.
Yang Fan, Zhao Ximei, Jin Hongyan, el al. Robust resonant predictive current control based on GPI observer for permanent magnet synchronous motor[J/OL]. Transactions of China Electrotechnical Society, 2023, DOI: 10.19595/j.cnki.1000-6753.tces. 230331.
[6] 王璨, 李国冲, 杨桂林, 等. 基于生物智能环状耦合的嵌入式永磁同步直线电机高精度位置协同控制研究[J]. 电工技术学报, 2021, 36(5): 935-943.
Wang Can, Li Guochong, Yang Guilin, et al.Research on position cooperative control of high-precision embedded permanent magnet synchronous linear motor based on biological intelligence loop coupling[J]. Transactions of China Electrotechnical Society, 2021, 36(5): 935-943.
[7] 东野亚兰, 杨淑英, 王奇帅, 等. 基于增强型扩张状态观测器的永磁同步电机低抖振高抗扰二阶终端滑模电流控制[J]. 电工技术学报, 2024, 39(8): 2434-2448.
Dong-Ye Yanlan, Yang Shuying, Wang Qishuai, el al. Enhanced extended state observer based second order terminal sliding mode current control for permanent magnet synchronous machine with low chattering and improved disturbance rejection[J]. Transactions of China Electrotechnical Society, 2024, 39(8): 2434-2448.
[8] 刘军, 周飞航, 刘飞. 永磁同步风电机组传动轴振动分析与抑制[J]. 电工技术学报, 2018, 33(4): 930-942.
Liu Jun, Zhou Feihang, Liu Fei.Analysis and restraining of permanent magnet synchronous wind turbine shaft vibration[J]. Transactions of China Electrotechnical Society, 2018, 33(4): 930-942.
[9] Fuentes E, Kalise D, Kennel R M.Smoothened quasi-time-optimal control for the torsional torque in a two-mass system[J]. IEEE Transactions on Industrial Electronics, 2016, 63(6): 3954-3963.
[10] Chen Yangyang, Yang Ming, Long Jiang, et al.Analysis of oscillation frequency deviation in elastic coupling digital drive system and robust Notch filter strategy[J]. IEEE Transactions on Industrial Elec- tronics, 2019, 66(1): 90-101.
[11] 龚文全, 罗炳章. 基于自适应陷波滤波器的伺服系统谐振频率估计及抑制[J]. 电机与控制应用, 2019, 46(11): 37-42, 93.
Gong Wenquan, Luo Bingzhang.Resonance frequ- ency estimation and suppression of servo system based on adaptive Notch filter[J]. Electric Machines & Control Application, 2019, 46(11): 37-42, 93.
[12] 杨影, 张杰鸣, 徐国卿, 等. 转速负反馈在伺服系统机械谐振抑制中的应用研究[J]. 电工技术学报, 2018, 33(23): 5459-5469.
Yang Ying, Zhang Jieming, Xu Guoqing, et al.Application research on speed negative feedback in mechanical resonance suppression in servo system[J]. Transactions of China Electrotechnical Society, 2018, 33(23): 5459-5469.
[13] Thomsen S, Hoffmann N, Fuchs F W.PI control, PI-based state space control, and model-based predictive control for drive systems with elastically coupled loads-a comparative study[J]. IEEE Transa- ctions on Industrial Electronics, 2011, 58(8): 3647-3657.
[14] 王璨, 杨明, 栾添瑞, 等. 双惯量弹性伺服系统外部机械参数辨识综述[J]. 中国电机工程学报, 2016, 36(3): 804-817.
Wang Can, Yang Ming, Luan Tianrui, et al.A review of external mechanical parameter identification of two-mass elastic servo systems[J]. Proceedings of the CSEE, 2016, 36(3): 804-817.
[15] Zhang G, Furusho J.Speed control of two-inertia system by PI/PID control[J]. IEEE Transactions on Industrial Electronics, 2000, 47(3): 603-609.
[16] Szabat K, Orlowska-Kowalska T.Vibration supper- ssion in a two-mass drive system using PI speed controller and additional feedbacks-comparative study[J]. IEEE Transactions on Industrial Electronics, 2007, 54(2): 1193-1206.
[17] 郎志, 杨明, 徐殿国. 双惯量弹性系统负载扰动观测器设计研究[J]. 电工技术学报, 2016, 31(增刊2): 84-91.
Lang Zhi, Yang Ming, Xu Dianguo.Research on design of load disturbance observer for double inertia elastic system[J]. Transactions of China Electro- technical Society, 2016, 31(S2): 84-91.
[18] 赵寿华, 毛永乐, 许翠翠, 等. 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, et al.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.
[19] 王树波, 李冬伍, 任雪梅. 基于未知动态观测器双惯量伺服系统低频主动谐振抑制[J]. 控制理论与应用, 2020, 37(12): 2535-2542.
Wang Shubo, Li Dongwu, Ren Xuemei.Low frequency active resonance suppression based on unknown dynamics estimator for dual inertia servo systems[J]. Control Theory & Applications, 2020, 37(12): 2535-2542.
[20] 杜仁慧, 陶春荣, 张伟, 等. 伺服系统机械谐振抑制的自适应模糊控制方法[J]. 电机与控制学报, 2017, 21(10): 116-122.
Du Renhui, Tao Chunrong, Zhang Wei, et al.Adaptive fuzzy control method for mechanical resonance suppression of servo systems[J]. Electric Machines and Control, 2017, 21(10): 116-122.
[21] Xia Jiakuan, Guo Zhiyan, Li Zexing.Optimal online resonance suppression in a drive system based on a multifrequency fast search algorithm[J]. IEEE Access, 2021, 9: 55373-55387.
[22] Singh J K, Prakash S, Al Jaafari K, et al.Active disturbance rejection control of photovoltaic three- phase grid following inverters under uncertainty and grid voltage variations[J]. IEEE Transactions on Power Delivery, 2023, 38(5): 3155-3168.
[23] 倪刚, 金辉宇, 兰维瑶. 基于Ziegler-Nichols规则的一阶线性自抗扰控制参数整定[C]//第三十九届中国控制会议论文集, 沈阳, 中国, 2020: 1097-1101.
[24] 杨明, 郝亮, 徐殿国. 双惯量弹性负载系统机械谐振机理分析及谐振特征快速辨识[J]. 电机与控制学报, 2016, 20(4): 112-120.
Yang Ming, Hao Liang, Xu Dianguo.Analysis of mechanical resonance mechanism and fast identi- fication of resonance characteristic for 2-mass system with elastic load[J]. Electric Machines and Control, 2016, 20(4): 112-120.