Research On Vibration Suppression Of Flexible Load In Servo System

With the development of technology,AC servo system is widely used in modern industrial applications.In servo system,the mechanical vibration of servo system is caused by the flexible connection load.In this thesis,the mechanical vibration phenomenon and its suppression method existing in the flexible servo system were studied.Firstly,this thesis introduced the research status of flexible servo system at domestic and overseas,and expounded the idea and steps of the analysis and design method of vibration suppression of flexible servo system at home and abroad,and established the mathematical model of two-quality flexible system.In this thesis,the input shaper based on the principle of open loop control was adopted to suppress the residual oscillation in the condition of low disturbance torque and load inertia ratio,and the flexible connection load speed and position control structure with input shaper was proposed.The optimal input shaper was introduced and the quadratic objective function was established by the vibration equation of the system.Based on the optimization theory,the input shaping device which minimized the objective function was designed.According to the characteristics of digital control system,the time-optimal input shaper was adopted,and its parameter selection method was proposed,which solved the problem of low inertia ratio oscillation suppression.The simulation results showed that the input shaping technique can not only restrain the residual vibration,but also ensure the optimal motion time,indicating the intrinsic essence of the input shaper to suppress the residual oscillation of the system.Then,aiming at the mechanical oscillation caused by the flexible connection between the motor and the load of the disturbed flexible servo system,an adaptive backstepping inference method with selective instruction filtering was adopted to suppress the system oscillation and improve the tracking accuracy.Lyapunov function proved the system's stability,guaranteed the system's stability and achieved the accurate position tracking control.The simulation results of the system's position proved this method is feasible.Compared with the traditional adaptive backstepping control,the proposed method has superior performance.Finally,this article summarized the contents,pointed out the shortcomings and put forward the study work of the next stage.