北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (3): 485-491.doi: 10.13700/j.bh.1001-5965.2014.0218

• 论文 • 上一篇    下一篇

基于数字滤波器的伺服系统谐振抑制方法

王建敏1,2, 吴云洁1,2, 刘佑民3, 张武龙4   

  1. 1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191;
    2. 北京航空航天大学 飞行器控制一体化技术重点实验室, 北京 100191;
    3. 北京航天发射技术研究所, 北京 100076;
    4. 北京仿真中心 导弹控制系统仿真国防科技重点实验室, 北京 100854
  • 收稿日期:2014-04-21 出版日期:2015-03-20 发布日期:2015-04-02
  • 通讯作者: 吴云洁(1969—),女,河北保定人,教授,wyjmip@buaa.edu.cn,主要研究方向为伺服控制、飞行器制导控制、系统仿真及评估等. E-mail:wyjmip@buaa.edu.cn
  • 作者简介:王建敏(1986—),男,河北石家庄人,博士生,wjm123121@126.com
  • 基金资助:
    国家自然科学基金资助项目(91216304)

Resonance suppression method based on digital filter for servo system

WANG Jianmin1,2, WU Yunjie1,2, LIU Youmin3, ZHANG Wulong4   

  1. 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    3. Beijing Institute of Space Launch Technology, Beijing 100076, China;
    4. National Defense Science and Technology Key Laboratory of Missile, Beijing Simulation Center, Beijing 100854, China
  • Received:2014-04-21 Online:2015-03-20 Published:2015-04-02

摘要: 针对飞行仿真伺服系统(转台)中存在的机械谐振问题,在分析传统陷波器及二阶低通滤波器谐振抑制原理的基础上,提出了一种双二次谐振抑制数字滤波器.该双二次型数字滤波器结合了传统陷波器和二阶低通滤波器的特点,能够将谐振点和反谐振点同时抑制.通过理论分析与仿真验证相结合的方式,阐述了该双二次型数字滤波器能够同时抑制正反谐振点的原理,并将该滤波器加入到了转台系统中进行实验.实验结果表明,所设计的滤波器在提高跟踪精度的同时有效拓宽了系统的带宽.

关键词: 伺服系统, 机械谐振, 谐振抑制, 陷波器, 数字滤波器, 双二次滤波器

Abstract: According to mechanical resonance problem in flight simulation servo system (turntable system), the principles of resonance suppression about traditional notch filter and second-order low-pass filter were analyzed. Afterwards the two-second resonance suppression digital filter was proposed. The two-second digital filter combines the characteristics of traditional notch filter and second-order low-pass filter, and it can suppress the resonance point and the anti-resonance point at the same time. Through theoretical analysis and simulation combination, the principle of the two-second digital filter restraining the resonance point and the anti-resonance point simultaneously was explained. The experiments were also conducted, in which above all filters were joined into the turntable system respectively. Experimental results show that, the proposed filter ensures high tracking precision meanwhile effectively widens the bandwidth of the servo system.

Key words: servo system, mechanical resonance, resonance suppression, notch filter, digital filter, two-second filter

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