AC Servo System For Resonance Suppression And Multi-axis Motion Control Method Research

In the process of industrial development,the servo system based on permanent magnet synchronous motor is widely used.The advantages of small size,low loss and high reliability of permanent magnet synchronous motor make it popular in electromechanical manufacturing.A complete servo system is composed of components such as controller,drive motor and mechanical flexible connection device.The establishment of servo system with flexible connection and resonance suppression are worthy of study.Additionally,trajectory control is of great importance to the industrial applications which often coordinates motion of two or more permanent magnet synchronous motor axes such as computer numerical control(CNC).In this paper,firstly the classic vector control scheme is analyzed and studied,and then the servo system in the no-load condition and the model with flexible connecting device are constructed.A servo system with a flexible connection is considered as a two-mass system and the entire mechanical transmission is in the form of a motor-spring-load.In order to accurately analyze the parameters of the model,the excitation signal of the analysis system is designed,the Chirp signal is used as the final test signal.Meanwhile,the structure of the velocity loop and the iterative least squares method are selected as the fitting algorithm.Finally,through the simulation and experiment verify the feasibility and the accuracy of frequency domain identification method.According to the mechanical resonance characteristics of the two-mass system,the causes of resonance are studied and analyzed.After comparing different forms of resonance suppression methods,a notch filter is selected as the specific resonance suppression method,and the feasibility is verified by simulation.Finally,the application of permanent magnet synchronous motor in multi-axis linkage system is studied.Aiming at optimizing the anti-jamming performance of the system,a new motion control algorithm,which is a generalized predictive cross-coupling control method based on disturbance observer,are proposed.First,a generalized prediction algorithm is applied to establish a unified model for the two axes.According to the known multi-step prediction trajectory,rolling optimization and feedback correction improve the accuracy of the two-axis control.Then,contour error is obtained by cross coupling links,as the amount of compensation of the generalized predictive control structure.Then,a disturbance observer is introduced to each single axis to estimate and compensate the aggregate disturbance of each axis.Simulation and experiment are carried out to verify that the algorithm has a good tracking performance and robustness.