Resonance Suppression Of Dual Inertia Elastic System Based On Active Disturbance Rejection Control

In modern industrial control,in practice,often introduced in the design did not consider the beginning of non-rigid connection devices.This is a factor that tends to cause elastic resonance,resulting in mechanical shock noise,increased mechanical wear of the system,and reduced system control accuracy.For the double inertia elastic system,it is necessary to explore th e resonance characteristics of the system and the corresponding suppression scheme.At present,the research field of resonance suppression industry does not include auto-disturbance rejection control,and the research on auto-disturbance-rejection control is also focused on the robustness of the velocity loop of single inertia system.In this paper,an adaptive anti-interference control scheme is proposed for the optimized design of the dual inertia system.First of all,this paper establishes a model of a uto-disturbance rejection and derives its mathematical expression.Then,based on the motor mechanical equation,a linearized speed loop auto-disturbance rejection controller is designed and compared with the original PI controller.The results show that the auto-disturbance-rejection technique applied to the single-inertia system is more robust than the traditional PI control,and can suppress the interference more quickly when the load changes.Then,in order to provide accurate part of the information of the control parameters---the moment of inertia of the motor,this paper designs an online inertial identification algorithm based on the recursive least squares principle.In the process of recognition,the forgetting factor is introduced in the algor ithm because of the accumulation of historical data and the recognition accuracy is affected.At the same time,the effective ability of the algorithm is checked in the case of speed loop input instruction and load torque change.Accurate inertia identification can lay the foundation for the precise design of the auto-disturbance-rejection dual inertia resonant suppression controller.Finally,a mathematical model is established to study the dual inertial elastic system,and the natural resonant frequency o f the system is obtained according to its kinematics equations.At the same time,the suppression effect of the notch filter on the resonance phenomenon is analyzed,and the influence of several parameters on the suppression effect is discussed.As a compa rative test of this paper,the two groups of contrast objects are the PI controller with zero pole reconfiguration strategy and the auto-disturbance rejection controller optimized for the dual inertia system.At the same time,in the case of other addition al conditions unchanged,in the two sets of controller output to join the notch filter to observe the suppression effect.In the case of a separate auto-disturbance rejection controller,the transient process responds quickly,but the resonant phenomenon is more obvious during the steady-state process.Once the notch filter is inserted,the steady-state velocity becomes smaller,but the response speed of the transient process slows down.Therefore,a composite control strategy is proposed,which is to determine the transient transient stability of the transient transient state.The transient process is used to detect the transient stability.Control technology,once the speed into the steady state phase,switch to insert the trap suppression filter auto-disturbance rejection controller.Finally,the experimental results show that the proposed transient transient switching control strategy can guarantee the dynamic performance and rapid response of the system when the velocity is transient,and can apply the r esonance phenomenon of the system when the velocity is in steady state better inhibition,combined with their respective advantages to achieve optimal performance.