| Permanent magnet synchronous servo system is widely used in automation equipment area. The control target is to achieve fast response, small tracking error, and high steady-state accuracy for a given command signal. Vibration is prevalent in servo system, which reduces the accuracy of the device and deteriorates the dynamic response of the servo system. And it limits the development of precision and high performance of servo system. This paper mainly studies the positioning vibration in servo system.For rigid servo system, if parameter configuration of controllers is unreasonable, it will cause motor vibration. For servo system with elastic transmission mechanism, due to the presence of the elastic element, vibration of motor and the load also exists when rapid positioning.Firstly, the improved structure of the position loop in the rigid servo is proposed, and the position closed-loop transfer function can be 1 in theoretical design, by adding feedforward and the gain for adjusting. Then the control parameter is adjusted according to the actual ex perimental conditions, to avoid the oscillation caused by the controllers, and achieve faster dynamic response. Its validity is verified by simulation and experiment.Then for the servo system with elastic actuator, the cause of positioning vibration in two-inertia servo system is analyzed. Methods of using notch filter and compensating the positioning signal are used to suppress the vibration in Matlab simulation. Referring to two-inertia system analysis methods, the cause of positioning vibration in three-mass system is analyzed, and notch filter method is extended to three-mass system to suppress the positioning vibration. The validity is verified by simulation.Finally, on a three-mass physical platform, the design of the control parameters is in conjunction with notch filter method, to achieve the three-mass servo positioning vibration suppression, and deducing the phase lag caused by the notch filter to increase the system response speed. |
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