基于负载转矩反馈的机械谐振抑制方法

摘要

柔性环节带来的机械谐振是制约伺服系统性能提升的一个关键问题。通过对伺服系统机械谐振的原理阐述，分析引起伺服系统机械谐振的两种原因。利用加速度反馈的方法可以等效增大电机惯量，从而抑制机械谐振。本文提出一种基于卡尔曼滤波器的惯量比可调负载转矩反馈方法，并通过确定最优惯量比进而计算得到负载转矩反馈系数。基于卡尔曼滤波器设计负载转矩观测器，再将观测到的负载转矩反馈到电流环给定中。通过matlab对观测器及负载转矩反馈抑制机械谐振效果进行仿真验证。%The mechanical resonance caused by flexible connection is a constraint of servo system performance.With ex-pounding the mechanism of mechanical resonance,two reasons causing vibration are analyzed.The mechanical resonance can be suppressed by acceleration feedback which can increase the motor equivalent inertia.In this paper,an adjustable inertia ratio method of load torque feedback based on Kalman filter is presented,and the coefficient of load torque feedback can be calculated by the optimal inertia ratio.After that,a load torque observer is designed by Kalman filter,then the observed torque is feedback to the reference of current loop.The performances of the observer and the mechanical resonance sup-pressed by load torque feedback are verified by matlab simulation.