Mechanical resonance suppression and shaft torque limitation of two-mass drive system based on model predictive control

摘要

The flexibility of transmission mechanisms in two-mass servo system can lead to its mechanical resonance. If the oscillation amplitude is beyond the shaft tolerance, it will lead to system insecurity problems. In this paper, the model of transmission mechanisms is firstly established, and based on that, four strategies: engineering design, pole placement method, shaft torque state feedback method and model predictive control are studied to suppress mechanical vibration and protect the safety of transmission. Simulation results show the advantages and disadvantages of the four strategies, meanwhile confirm MPC as the optimal method. MPC can suppress mechanical resonance, limit the amplitude of the shaft torque and allow the system to complete the transient process with maximum acceleration, taking dynamic performance and security into account at the same time.