The Study Of Flexible Servo System Vibration Suppression Algorithm

With the rapid development of modern science and technology, the requirement for servo system has been raised in industrial production. It is known that the low-frequency resonance in the flexible system seriously influences servo system frequency with response to bandwidth enhancement, and affects the servo system with the development of high performance and high precision as well. Although many scholars have made various researches over this problem, quite a few of them are viable in practical industrial controlling. Under the cooperation with an enterprise in Shenzhen, this paper deeply studies the problem of resonance in flexible system from the aspects of theory and practice, aiming to realize real-time FFT spectrum analysis and suppress the resonance of flexible system.In this paper, strongly coupled flexible servo system will be simplified as two inertia models, based on which make clear why the flexible shaft causes oscillation and how to suppress it. This paper will analyze the ordinary PI control and one distributed according to poles. The simulation results show that the latter one plays a better role over vibration suppression.After analyzing the flexible system model, this paper propose an improved adjustable inertia ratio control strategy which is to equivalently analyze a four-order system by using two typical second-order systems which have the same damping factors. Then, this paper has comparative analysis of PI control, disturbance observer control and improved adjustable inertia in MATLAB/SIMULINK. The analysis results show that the adjustable inertia ratio can suppress resonance both in motor and load well.What's more, this paper also design in this thesis a kind of adaptive notch filter which can automatically change its parameters under the situation that the systematic oscillation frequency point is altered. Because of some external factors, the oscillation frequency is prone to offset. However, ordinary notch filter is hard to meet the industrial needs. The strategy of adaptive notch filter in this paper is designed to pick up oscillation frequency points through the real-time FFT spectrum analysis and then set the notch filter parameters to suppress the vibration.At last, this paper conducts a software programming based on chip DSP TMS320F2806 of TI, enforcing an adaptive notch filter control in AC servo system with actual synchronous belt transmission. The experimental consequences show that the notch filter control strategy is simple and valid.