基于数字滤波器的伺服系统谐振抑制方法

王建敏; 吴云洁; 刘佑民; 张武龙

doi:10.13700/j.bh.1001-5965.2014.0218

基于数字滤波器的伺服系统谐振抑制方法

doi: 10.13700/j.bh.1001-5965.2014.0218

王建敏^1,2,
吴云洁^1,2, ,,
刘佑民³,
张武龙⁴

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

基金项目: 国家自然科学基金资助项目(91216304)

详细信息

作者简介:
王建敏(1986—),男,河北石家庄人,博士生,wjm123121@126.com

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.

中图分类号: V416.8
计量
- 文章访问数: 2077
- HTML全文浏览量: 100
- PDF下载量: 97255
- 被引次数: 0
出版历程
- 收稿日期: 2014-04-21
- 网络出版日期: 2015-03-20

Resonance suppression method based on digital filter for servo system

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

摘要

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.
- 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.
- servo system /
- mechanical resonance /
- resonance suppression /
- notch filter /
- digital filter /
- two-second filter

HTML全文

参考文献(18)

[1]	John Y H. Control of industrial robots that have transmission elasticity [J].IEEE Transactions on Industrial Electronics,1991,38(6):421-427.
[2]	赵桂军, 许美健,吴雄君,等.陷波器在导引头伺服系统中的应用[J].制导与引信,2013,34(2):1-3. Zhao G J,Xu M J,Wu X J,et al.The application of notch filter for the servo system in seeker[J].Guidance & Fuze,2013,34(2): 1-3(in Chinese).
[3]	Slobodan N V, Milic R S.Suppression of torsional oscillations in a high performance speed servo drive[J].IEEE Transactions on Industrial Electronics,1998,45(1):108-117.
[4]	Krzysztof S, Teresa O K.Vibration suppression in a two-mass drive system using PI speed controller and additional feed backs-comparative study[J].IEEE Transactions on Industrial Electronics,2007,54(2):1193-1206.
[5]	杨晓霞,阴玉梅, 孟浩然,等.利用加速度反馈的大型光电设备主轴控制技术[J].中国惯性技术学报,2013,21(4):421-424. Yang X X,Yin Y M,Meng H R,et al.Mount control for large optoelectronic equipment by using acceleration feedback[J].Journal of Chinese Inertial Technology,2013,21(4):421-424(in Chinese).
[6]	于晶,冯勇, 郑剑飞.基于高阶滑模和加速度反馈的机械谐振抑制方法[J].控制理论与应用,2009,26(10):1133-1136. Yu J,Feng Y,Zheng J F.Suppression of mechanical resonance based on higher-order sliding mode and acceleration feedback[J].Control Theory & Applications,2009,26(10):1133-1136(in Chinese).
[7]	Carl J K, Seiichi K.Disturbance observer and feed-forward design for a high speed direct-drive positioning table[J].IEEE Transactions on Control Systems Technology,1999,7(5):513-526.
[8]	Abdullah A M, Ehsan K,Charanjit S B,et al.Integral resonant control for suppression of resonance in piezoelectric micro-actuator used in precision servomechanism[J].Mechatronics,2013,23(1):1-9.
[9]	张卫国,曹永刚, 陈涛.用数字滤波器改善光电经纬仪机械谐振频率的方法[J].光学精密工程,1999,7(2):77-82. Zhang W G,Cao Y G,Chen T.Digital filter approach to improving the resonance frequency of photoelectric theodolite[J].Optics and Precision Engineering,1999,7(2):77-82(in Chinese).
[10]	杨明,胡浩, 徐殿国.永磁交流伺服系统机械谐振成因及其抑制[J].电机与控制学报,2012,16(1):79-84. Yang M,Hu H,Xu D G.Cause and suppression of mechanical resonance in PMSM servo system[J].Electric Machines and Control,2012,16(1):79-84(in Chinese).
[11]	李献斌,王跃科, 杨俊.级联陷波器抗窄带干扰设计与实现[J].电子测量与仪器学报,2013,27(6):492-497. Li X B,Wang Y K,Yang J.Design and implementation of cascade IIR notch filters for narrow-band interferences suppression[J].Journal of Electronic Measurement and Instrument,2013,27(6):492-497(in Chinese).
[12]	马跃,黄宾, 王志成.基于陷波器的伺服系统共振抑制的研究[J].计算机工程与设计,2013,34(5):1624-1629. Ma Y,Huang B,Wang Z C.Research on resonance vibration in servo system based on notch filter[J].Computer Engineering and Design,2013,34(5):1624-1629(in Chinese).
[13]	Xu J B, Wang W Y,Shen A W,et al.Detection and reduction of middle frequency resonance for an industrial servo[J].Control Engineering Practice,2013,21(7):899-907.
[14]	刘强. 现代高精度数字伺服系统运动控制理论及应用研究[D].北京:北京航空航天大学,2002. Liu Q.Motion control theory and application research on modern high precision digital servo system[D].Beijing:Beijing University of Aeronautics and Astronautics,2002(in Chinese).
[15]	刘强,尔联洁. 飞行仿真转台基于干扰观测器的鲁棒跟踪控制[J].北京航空航天大学学报,2003,29(2):181-184. Liu Q,Er L J.Disturbance observer based robust tracking control of high precision flight simulator[J].Journal of Beijing University of Aeronautics and Astronautics,2003,29(2):181-184(in Chinese).
[16]	Wu Y J, Liu X D,Tian D P.Research of compound controller for flight simulator with disturbance observer[J].Chinese Journal of Aeronautics,2011,24(5):613-621.
[17]	胡寿松. 自动控制原理[M].4版.北京:科学出版社,2001:77-83. Hu S S.Automatic control theory[M].4th ed.Beijing:Science Press,2001:77-83(in Chinese).
[18]	刘晓东,吴云洁, 田大鹏,等.基于干扰观测器的飞行仿真转台滑模控制器[J].上海交通大学学报,2011,45(3):393-397. Liu X D,Wu Y J,Tian D P,et al.Research of sliding mode controller for flight simulator based on disturbance observer[J].Journal of Shanghai Jiaotong University,2011,45(3):393-397(in Chinese).