[1]赵云,王泽飞,王晓光,等.伺服驱动系统高增益速度环的振动抑制方法[J].华侨大学学报(自然科学版),2021,42(4):433-440.[doi:10.11830/ISSN.1000-5013.202008030]
　ZHAO Yun,WANG Zefei,WANG Xiaoguang,et al.Vibration Suppression Method for High Gain Velocity Loop of Servo Drive System[J].Journal of Huaqiao University(Natural Science),2021,42(4):433-440.[doi:10.11830/ISSN.1000-5013.202008030]
点击复制

伺服驱动系统高增益速度环的振动抑制方法()
分享到：

《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第42卷
期数:
2021年第4期
页码:
433-440
栏目:
出版日期:
2021-07-20

文章信息/Info

Title:
Vibration Suppression Method for High Gain Velocity Loop of Servo Drive System
文章编号:
1000-5013(2021)04-0433-08
作者:
赵云1;  王泽飞1;  王晓光1;  祝珊2
1. 湖北工业大学 太阳能高效利用及储能运行控制湖北省重点实验室, 湖北 武汉 430068;2. 国网湖北省电力公司咸宁市咸安区供电公司, 湖北 咸宁 437000
Author(s):
ZHAO Yun1;  WANG Zefei1;  WANG Xiaoguang1;  ZHU Shan2
1. Hubei Key Laboratory for High Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System, Hubei University of Technology, Wuhan 430068, China; 2. Xian’an District Power Supply Company of Hubei Electric Power Company of State Grid, Xianning 437000, China
关键词:
伺服驱动系统;  内模控制观测器;  反馈补偿;  振动抑制
Keywords:
servo drive system;  internal model control observer;  feedback compensation;  vibration suppress
分类号:
TN820.3
DOI:
10.11830/ISSN.1000-5013.202008030
文献标志码:
A
摘要:
为解决速度控制器增益过大和负载扰动等因素引起伺服系统振动,导致系统不稳定的问题,提出伺服驱动系统高增益速度环的振动抑制方法.首先,采用速度振动信号反馈补偿的方法,设计滤波器提取振动速度信号作为速度反馈补偿;然后,采用内模控制(IMC)观测器进行负载扰动补偿,将观测出的扰动转换成对应的电流量,对电流环指令信号进行前馈补偿.仿真结果表明:与比例积分(PI)控制和传统的观测器补偿法相比,文中方法能有效地提高系统的响应和抗扰动性.
Abstract:
In order to solve the problem of excessive speed controller gain and load disturbance that will cause the servo system vibration and instability, a vibration suppression method for the high gain speed loop of the servo drive system was proposed. First, a velocity vibration signal feedback compensation method was adopted to design a filter to extract the vibration velocity signal as velocity feedback compensation. Then,the internal model control(IMC)observer was used to compensate the load disturbance. The observed disturbance was converted into corresponding current flow. The current loop instruction signal was compensated feedforward. The simulation results show that the proposed method can effectively improve the response and anti-disturbance of the system comparing with proportional integral(PI)control and traditional observer compensation method.

参考文献/References:

[1] 徐楠.永磁同步电机调速系统高性能控制策略研究[D].徐州:中国矿业大学,2017.
[2] CIMINI G,FOSSI V,IPPOLITI G,et al.Model predictive control solution for Permanent Magnet Synchronous Motors[C]//IECON 2013-39th Annual Conference of the IEEE Industrial Electronics Society.Vienna:IEEE Press,2013:5824-5829.DOI:10.1109/IECON.2013.6700089.
[3] 王莉娜,朱鸿悦,杨宗军,等.永磁同步电动机调速系统PI控制器参数整定方法[J].电工技术学报,2014,29(5):104-117.DOI:10.3969/j.issn.1000-6753.2014.05.014.
[4] 刘景林,公超,韩泽秀,等.永磁同步电机闭环控制系统数字PI参数整定[J].电机与控制学报,2018,22(4):26-32.DOI:10.15938/j.emc.2018.04.004.
[5] MA Chengbin,CAO Junyi,QIAO Yue.Polynomial-method-based design of low-order controllers for two-mass systems[J].IEEE Transactions on Industrial Electronics,2013,60(3):969-978.DOI:10.1109/TIE.2012.2188869.
[6] MA Chengbin,HORI Y.Backlash vibration suppression in torsional system based on the fractional order Q-filter of disturbance observer[C]//8th IEEE International Workshop on Advanced Motion Control.Kawasaki:IEEE Press,2004:577-582.DOI:10.1109/AMC.2004.1297932.
[7] LI Xiaocong,CHEN Silu,TEO C S,et al.Enhanced sensitivity shaping by data-based tuning of disturbance observer with non-binomial filter[J].ISA Transactions,2019,85:284-292.DOI:10.1016/j.isatra.2018.10.023.
[8] ZHU Zhiqiang,HE Yuqing,QI Juntong,et al.The analysis and synthesis of PID controller based on closed loop response characteristics[C]//IEEE International Conference on Robotics and Biomimetics.Guangzhou:IEEE Press,2012:1930-1936.DOI:10.1109/ROBIO.2012.6491250.
[9] 袁亮,张斌,张增华,等.基于滑模变结构的异步电机转速控制系统[J].电机与控制应用,2017,44(1):34-39.DOI:10.3969/j.issn.1673-6540.2017.01.007.
[10] 周慧龙,张迁,钟钦洪,等.模糊滑模变结构控制在低压永磁同步电机中的应用[J].微电机,2018,51(8):50-54.DOI:10.3969/j.issn.1001-6848.2018.08.009.
[11] ZHOU Jiateng,GARTLIB E A.Mechatronic system of main electric drive of hot plate mill[C]//International Conference on Industrial Engineering, Applications and Manufacturing.Moscow:[s.n.],2018:1-4.DOI:10.1109/ICIEAM.2018.8728825.
[12] RADIONOV A A,MAKLAKOV A S,GASIYAROV V R,et al.Research of electric drive at load impact on hot plate mill 5 000[C]//International Conference on Mechanical Engineering, Automation and Control Systems.Tomsk:IEEE Press,2015:1-4.DOI:10.1109/MEACS.2015.7414864.
[13] 荀倩,王培良,蔡志端,等.基于负载转矩观测器的PMSM抗负载扰动控制策略[J].电工电能新技术,2016,35(5):36-41.DOI:10.3969/j.issn.1003-3076.2016.05.007.
[14] 郎志,杨明,徐殿国,等.双惯量弹性系统负载扰动观测器设计研究[J].电工技术学报,2016,31(增刊2):84-91.DOI:10.19595/j.cnki.1000-6753.2016.s2.010.
[15] 李浩源,张兴,杨淑英,等.基于旋转高频注入的内置式永磁同步电机初始位置检测算法简[J].电工技术学报,2018,33(8):1723-1731.DOI:10.19595/j.cnki.1000-6753.tces.162013.
[16] 刘娜,向学辅,周建平,等.基于MATLAB图形用户界面的离散信号谐波分析[J].科学技术与工程,2018,18(13):255-260.DOI:10.3969/j.issn.1671-1815.2018.13.041.

备注/Memo

备注/Memo:
收稿日期: 2020-08-20
通信作者: 赵云(1985-),男,副教授,博士,主要从事高性能伺服电机控制算法的研究.E-mail:guangyunzhao@163.com.
基金项目: 国家自然科学基金资助项目(51677058)
更新日期/Last Update: 2021-07-20