Research on Active Resonance Suppression for Servo System Based on Extended Kalman
Aiming at the phenomenon of mechanical resonance in high precision and high speed control of servo system,a new ac-tive resonance suppression scheme was proposed.The dynamic equation of double inertia was established,IP control combined with state feedback was used to improve the free degree of the poles,and the pole position was configured by adjusting the damping coefficient to suppress the mechanical resonance.At the same time,in order to improve the influence of the damping coefficient on the system response time,the adaptive feedforward terms were added to reduce the system order and improve the system dynamic response.Then,an extended Kalman observer was designed to identify the shaft moment and load inertia online,and then the feedback coefficient and feedforward coefficient were adaptively adjusted.Finally,on the basis of theoretical analysis,the simulation was carried out.The results show that the proposed active suppression scheme has good resonance suppression effect and dynamic response,which verifies the effectiveness of the scheme.
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