Research On Mechanical Resonance Suppression Of Servo System

Due to the prevalence of flexible connection in servo system, the system will produce mechanical resonance phenomenon. Mechanical resonance affects the life of parts, the control performance and accuracy of the system, and it may even leads to off-axis accident. Therefore, the study of suppressing mechanical resonance is significant. The main contents are as follows:A mathematical model is developed for a two inertia servo system with flexible connection. The paper laid special stress on analyzing the resilient connection of the system load. The cause of torsion vibrations in principle is explained according to the mathematical model. This article also analyzed the effects of stiffness, motor inertia and load inertia on the resonant frequency. From both stability and dynamic performance, the impact of the system resonance is further analyzed.By comparing different resonance frequency identification method s, the paper pointed out that there is a deviation in the identification of high damping results using traditional identification method, and the causes of the problem is presented. To solve this problem, this article identified resonance frequency by finding the resonance peak frequency directly. This method turned frequency identification problem to the sake of conversion function extreme point problem, simplifying the resonant frequency of the identification process. It is verified by simulation that in case of higher damping, this method is still accurate.An improved notch filter is designed, compared with the traditional notch filter, it can be adjusted easier. Based on identification of resonance frequency, the determination principle of notch filter parameters is given. This paper presented the effect of the notch filter on the system. The equivalent discrete method is adopted to design digital notch filter. The effectiveness of the method is verified by simulation.The proposed method is verified by simulation and experiment verification. Compared the results of before and after suppression, the effectiveness of the method is verified. The mechanical resonance suppression test platform is designed. Experiments showed the feasibility and effectiveness.