The Research On Vibration Suppression Technology Of Robot Servo Drive System

In recent years,with the deepening of "Made in China 2025" and "Industry 4.0",the development of the industrial robot industry has become even more rapid.With the increase of industrial robot application scale,the robot's accuracy is more and more demanding,and also put forward higher requirements on the control accuracy and stability of servo system.Due to the mechanical mechanism and the control strategy,the servo system has the problem of vibration in practical work,and the vibration greatly affects the stability and control accuracy of the servo drive system,restricting the development of the robot.Therefore,the research on the vibration suppression of servo system is of great significance to improve the performance of the robot.The PMSM servo drive system is a high-coupled multi-inertia system,in order to facilitate the analysis and design of servo system,this paper simplifies it to a double inertia system model,and analyzes the causes of torsional vibration;According to the mathematical model of PMSM torque,proposed the control method of using notch filter to suppress the servo system vibration.In order to obtain the vibration characteristic parameters of servo system,based on analyzing the principle of FFT algorithm and vibration frequency detection algorithm,a vibration parameter gathering device is set up based on STC12C5A60S2 MCU and ADXL335 acceleration chip.The vibration characteristics parameters of servo system are obtained by using this device.Through the comparison of the vibration data before and after the adaptive vibration suppression algorithm shows the correctness of the designed algorithm.According to the detected vibration parameters of the servo system,the notch filter parameters are calculated and adjusted online to realize the adaptive vibration suppression of the servo drive system.The torsional vibration and torque ripple are separately suppressed simulation in the built servo system model,and the simulation results prove the correctness and practical value of the parameter detection algorithm and the adaptive suppression algorithm.Finally,the experimental verification of parameter detection and adaptive vibration suppression algorithm was carried out on the six-joint industrial robot and its servo drive hardware platform independently developed by Institute 16 th of China Aerospace Academe.The experimental results show that the designed adaptive vibration suppression algorithm can significantly reduce the vibration of the servo drive system and improve the system performance effectively.