带传动间隙的弹性负载系统机械谐振机理分析及抑制-电力电子与电力传动专业论文.docxVIP

哈尔滨工业大学工程硕士学位论文 哈尔滨工业大学工程硕士学位论文 万方数据 万方数据 Abstract In AC servo system, transmission shaft and coupling are main transmission device connecting drive side and load side. But transmission device has elasticity in real system. The mechanical resonance phenomenon is generated because of importing of elastic load. Mechanical resonance will influence the control performance and precision, even make system instability. It will bring the damage to transmission device in severe case, like wear and breaking-shaft. In the actual system, transmission backlash is hard to avoid. The existence of backlash will aggravate the harm of mechanical resonance, and bring the other severe damage like impact. But the traditional method of suppressing mechanical resonance cannot suppress the resonance with backlash effectively. Therefore, to solve the resonance with backlash has important practical significance. This paper analyzes the mechanical resonance phenomenon at control point aiming at 2-mass system with elastic load and backlash. The Bode diagram can be produced by fast identification of resonance characteristic, and this characteristic can be used to carry out the passive method of suppression. The paper proposes an effective method to suppress mechanical resonance with backlash, and this method also can realize the adjusting of shaft-torque at any certain value. This paper firstly researches the mechanism of mechanical resonance without backlash, involving resonance model and the resonance characteristics of continuous and discrete system. It’s the conclusion that resonance frequency of continuous system is Anti-Resonance Frequency, and resonance frequency of discrete system is Natural Torsional Frequency. Further involving the backlash nonlinear factor, the effect of backlash to resonance characteristic is analyzed; the negative influence of backlash to original resonance is confirmed. Backlash is equal to reduce the elastic coefficient. When backlash is larger, the resonance fre