交流永磁伺服系统在线抑制机械谐振技术分析-analysis of online suppression of mechanical resonance in ac permanent magnet servo system.docxVIP

AbstractPMAC servo system is widely used in the field of electrical drive due to its excellent dynamic performance, accuracy and Tracking characteristic. With the increasing requirements of application, PMAC servo system needs faster response and higher operation bandwidth. Mechanical transmission devices are used to connect executor with PMAC motor, but its flexibility will bring resonance points in servo system. Resonance points would near or be contained in operation bandwidth as the enlarging of system bandwidth, and lead to mechanical resonance.This dissertation studies characteristics of elastic mechanical transmission systems, and establishes the 2-mass model. Theoretical analyzes and simulations of 2-mass model are used to study the principle and phenomenon of mechanical resonance. Then the structure of notch filter is studied, and the effect of each notch filter parameter is analyzed. Feasibility and availability of suppressing mechanical resonance with notch filter are confirmed via simulation. Digital notch filter is achieved using equivalent discretization method, and analyzed its performance. Identification methods of system frequency characteristic are studied in order to achieve the online mechanical resonance suppressing. Four different identification methods are analyzed and compared, and the method that analyzes current directly is used to obtain the resonant frequency online. FFT program that used to identify frequency characteristic is accomplished considering the operational capability of MCU.Experimental platform is designed based on 2-mass principle and manufactured. Experiments confirm the effect of online mechanical resonance suppressing.Keywords： PMAC servo system, mechanical resonance, notch filter, resonance identification目录摘要 .............................................................................................................. IAbstract...........................................................................................