APPARATUS TO DETECT AND SUPPRESS RESONANCE IN SERVO SYSTEM BY USING A PLURALITY OF FIXED NOTCH FILTERS AND METHOD THEREOF

摘要

The present invention relates to an apparatus to detect and suppress resonance in a servo system and a method thereof. The apparatus according to an embodiment of the present invention comprises: a resonance detector which detects generation, suppression, and magnitude of the resonance; a frequency estimator which estimates a frequency of the resonance generated from a current command in real time; a fixed notch filter unit which filters the current command to suppress a previously known first resonance; a resonance comparator which compares the magnitude of a second resonance with the magnitude of the first resonance when the second resonance is detected while the fixed notch filter unit is used; and a filter setting device which changes the notch frequency of the fixed notch filter unit into the frequency of the second resonance to suppress the second resonance when the magnitude of the second resonance is greater than that of the first resonance.;COPYRIGHT KIPO 2017