Systems and methods for robust vibration suppression in a motion control system

摘要

Systems and methods for reducing unwanted vibration in motion system are provided using a Robust Vibration Suppression (RVS) methodology, in which acceleration frequency spectra are obtained for each of a number of command input functions developed for moving a load a specified distance within a specified move time interval using an actuator. The frequency spectra comprise peaks, with notches defined between adjacent peaks. A desirable command input function is one with a frequency spectra having either a notch with a maximum width or a peak with a minimum magnitude relative to frequency spectra associated with other command input functions, or, alternatively, a peak with a magnitude of less than or equal to a pre-established magnitude or a frequency notch having a width greater than or equal to a pre-established width. A suitable command input function may be characterized by a ramp function, a cosine function, a sine function, or a combination thereof. The period of a suitable command input function is related to a fundamental natural frequency of the motion control system. A bridge circuit may be employed to reduce motor ripple torque, and a control circuit may be employed to compensate for back EMF. A computer-based system may be used to design, test, and optimize a motion control system using RVS principles. Various system components may be graphically modeled. Command input functions may be applied to the system, modified, and optimized. Various graphical and character data may be displayed. RVS design software may be embodied in a computer-readable article of manufacture.