Resonance Analysis And Suppression Of Linear Servo System

Mechanical flexibility of linear servo system can cause insufficiency of mechanical stiffness in high speed motion, unreasonable control parameters and change of the load quality in the process of movement easily cause the insufficiency of the servo dynamic stiffness, which will make the system produce resonance phenomenon, the resonance of linear servo system severely reduce dynamic performance. Therefore, it is necessary to design the scheme of resonance identification and suppression to enhance the performance of the linear servo system.In this paper, the simulation research and experimental verification were combined on the basis of theoretical analysis, the resonance identification and suppression were studied on the basis of study of main influencing factor of servo system resonance.Firstly,this paper analyzed the theory on the basis of the laboratory existing servo system,the SIMULINK software was used to build the model of linear servo control system,meanwhile the mechanical resonance model and the servo dynamic stiffness model were built, the resonance character was analyzed according to mechanical resonance model,and study the main factors of influencing the servo dynamic stiffness, the results showed that load quality and parameters of control system are the main factors of influencing the servo dynamic stiffness.In this paper,the resonance caused by load quality was identified by recursive least squares identification method. The experimental results of recursive least squares identification showed that the recursive least squares identification is suitable for online identification of the servo system, and is with the advantages of small ripple convergence, fast convergence rate and high precision. Therefore, it is especially suitable for identification of linear servo system in the process of movement.Secondly,the notch filter was used to suppress the mechanical resonance on the basis of the power spectral identification,simulation and experimental results havebeen good effect on suppressing resonance. The resonance caused by insufficiency of the servo dynamic stiffness was suppressed by Integral Resonant Control on the basis of resonance suppression,the IRC was researched deeply by computer simulation and practical platform test in time domain and frequency domain,the results showed that the method of using IRC have good effect on suppressing resonance,and can greatly improve system dynamic performance.Finally,the laboratory existing hardware and software platform of linear servo system were introduced,the basic working principle of the experimental platform was explained,and the experimental test result was analyzed.