Research On Resonance Suppression Strategy Of AC Permanent Magnet Servo System Based On FILADRC Control

The AC permanent magnet servo system has the characteristics of high positioning accuracy,wide speed range,fast dynamic response and stable operation.It is widely used in servo drive system.However,there is a certain degree of elasticity in the transmission mechanism between the servo motor and the load.The existence of elastic factors will make the bandwidth of the system continue to expand.When the widening bandwidth of the servo system covers its natural resonance frequency range,it is easy to cause the mechanical resonance of the servo system,thereby reducing the system control precision and affecting the stable operation of the system.This thesis mainly analyzes and researches the active resonance suppression strategy of the speed loop controller based on fuzzy control principle and active disturbance rejection control technology design.Firstly,the thesis expounds the principle and structure of fuzzy control and ADRC.In order to enhance the estimation performance of the linear extended state observer,two adjustment factors are introduced in its gain matrix;Stability,using fuzzy control technology to modify the linear state error feedback control law of the ADRC,thus designing an improved fuzzy ADRC(Fuzzy Improved Linear Active Disturbance Rejection Control,FILADRC).On this basis,the speed loop FILADRC controller is designed for the single inertia permanent magnet servo system,and the frequency domain characteristics and stability of the system are analyzed,so as to lay the foundation for the application of FILADRC control technology in the dual inertia servo system resonance suppression Base.Secondly,the precise modeling of the dual-inertia elastic servo system is carried out,and then the mechanism of the mechanical resonance of the dual-inertia system model is elaborated and analyzed,and the dual-inertia based on PI and linear active disturbance rejection control two active resonance suppression strategies are compared and analyzed.Servo resonance effect.Thirdly,the motor inertia identification method of the dual inertia servo system is designed by using the orthogonal characteristics of trigonometric functions;and then the online identification algorithm of the load rotational inertia of the dual inertia servo system with the fading memory recursive least square method and the Kalman observer is designed.Thus,the foundation is established for the determination of model parameters and the tuning of controller parameters.Finally,aiming at the mechanical resonance problem of the dual inertia servo system,an active resonance suppression strategy of the speed loop FILADRC control is designed.And the feasibility and effectiveness of the method are verified by simulation experiments.Then,in order to verify the resonance suppression effect of this strategy in practice,a double-inertia AC permanent magnet servo system dragging experimental platform was built,and the resonance suppression and moment of inertia identification experiments of the speed loop FILADRC control were carried out.The results show that the control strategy can not only make the system obtain good dynamic and static performance,but also has a good suppression effect on the mechanical resonance phenomenon of the dual inertia system.