Mechanical resonance suppression method for servo system based on IP control and load acceleration feedback
When the bandwidth of a servo system covers the natural frequency of the transmission device,it is easy to cause mechanical resonance in the system,which seriously affects the dynamic performance and control accuracy of the system.To solve this problem,a resonance suppression strategy of a servo system based on IP control with load-side acceleration state feedback is proposed in this paper.By using IP control in the speed loop,the overshoot of the system is effectively reduced,while the acceleration feed-back is introduced in the current loop to increase the degree of freedom of pole placement.On this basis,according to the pole assignment method with the same damping coefficient and taking the optimal damp-ing ratio as the design goal,the value range of the key parameters of the system controller and the state feedback gain are discussed.Finally,the effectiveness of the proposed control method is verified by simulation.
万方数据
维普
