【摘要】 针对使用常规陷波器抑制伺服系统机械谐振时存在的相位滞后问题,研究了柔性传动伺服系统的机械谐振机理和常规型二阶陷波滤波器的相位特性,分析了陷波滤波器对系统性能的影响。在常规二阶陷波滤波器结构的基础上,提出了一种减小陷波器相位滞后的改进策略,减小陷波器加入系统后造成的相位裕度损失;设计了基于改进型陷波滤波器的柔性传动伺服系统机械谐振抑制系统,通过仿真分析和实验,对比了使用常规型陷波器和改进型陷波器的电机转速振动抑制效果,验证了所提策略。仿真结果表明:改进型陷波滤波器具有更小的相位滞后,可以提升系统闭环带宽。实验结果表明:改进型陷波器不仅能够实现电机转速振动抑制,还能提高系统的响应速度,减小超调量,加快了稳定速度。更多还原

【Abstract】 Aiming at the phase lag caused by traditional notch filter of the mechanical resonance suppression of servo system, the principle of mechanical resonance of the servo system and the phase characteristics oftraditional second-order notch filter were studied, the influence of notch filter on the system was analyzed. In order to decrease the phase-lag, an improved notch filter was proposed based on traditional notch filter. The resonance suppression of servo system based on improved notch filter was designed. Through simulation analysis and experiment, the effect of using conventional notch filter and improved notch filter was compared, and the proposed strategy was verified. The simulation results indicate that the improved notch filter get smaller phaselag, and the system bandwidth is expanded compare with the traditional notch filter. The experimental results indicate that the improved notch filter can effectively suppress the resonance of the servo system, at the same time, the response speed and overshoot of the system are improved and speed up the stability speed.更多还原