带传动间隙的弹性负载系统机械谐振机理分析及抑制
发布时间：2018-11-27 17:11
【摘要】：在交流伺服系统中，传动轴、联轴器等是连接驱动侧与负载侧的主要传动装置。而实际的传动装置会存在一定的弹性，弹性负载的引入就会产生机械谐振现象。机械谐振会影响系统控制性能及精度，甚至导致系统失稳，严重的情况还会对机械传动装置产生损害，比如磨损、断轴等。实际系统中的传动间隙是很难避免的，传动间隙的存在会加剧谐振的危害，并会带来其他冲击等更为严重的损害，而目前传统的机械谐振抑制手段不能有效的对含间隙的机械谐振进行抑制。所以解决含间隙的机械谐振问题具有重要的实际意义。 本论文针对含传动间隙的双惯量弹性系统在控制角度分析了机械谐振的情况，并针对含谐振系统利用快速频率特性获取方法获得谐振Bode图，进而得到谐振特性方便被动抑制方式的实施。提出一种可以应用在含间隙谐振系统的有效抑制机械谐振的方法，并能实现轴矩的任意调节。 本文首先研究了不含间隙的机械谐振机理，包括谐振模型、连续和离散情况的谐振特性等。得到连续系统的谐振频率为抗谐振频率，离散系统的谐振频率为自然谐振频率的结论。进一步加入间隙非线性因素，分析间隙对谐振特性的影响，明确了间隙对原有谐振的负面影响。间隙相当于减小了弹性系数，，随着间隙的增大，谐振频率降低谐振幅值加大。 由于常规扫频方式会对谐振系统产生潜在危害，所以随后针对常规的被动抑制谐振手段分析并提出基于伪随机序列信号和基于Chirp信号的快速频率特性获取方法。通过仿真及实验验证了该方法能做到快速、准确的获取系统开环频率特性，进而得到谐振特性。 最后针对含间隙的机械谐振研究了基于轴矩扰动观测器的抑制方法，并分析补偿参数对系统稳定性的影响。从机理的角度分析该方案抑制含机械谐振的原因，即利用等效惯量比控制等效增加电机惯量，并通过轴矩扰动观测器做到了轴矩任意调节的目的。通过仿真及实验对比验证了方案的有效性。
[Abstract]:In the AC servo system, the drive shaft and coupling are the main driving devices connecting the drive side with the load side. But the actual transmission device will have certain elasticity, the introduction of elastic load will produce mechanical resonance phenomenon. Mechanical resonance will affect the control performance and precision of the system, even lead to the system instability, serious conditions will also cause damage to mechanical transmission, such as wear, broken shaft, etc. The transmission clearance in the actual system is very difficult to avoid, the existence of transmission clearance will aggravate the harm of resonance, and will bring more serious damage such as other shocks. At present, the traditional mechanical resonance suppression method can not effectively suppress the mechanical resonance with gaps. Therefore, it is of great practical significance to solve the problem of mechanical resonance with gaps. In this paper, the mechanical resonance of a double inertia elastic system with transmission clearance is analyzed from the control angle, and the resonant Bode diagram is obtained by using the fast frequency characteristic acquisition method for the resonant system. Furthermore, the resonant characteristic is obtained to facilitate the implementation of passive suppression mode. This paper presents an effective method for suppressing mechanical resonance in resonant systems with gaps, and realizes arbitrary adjustment of axial moment. In this paper, the mechanism of mechanical resonance without gap is studied, including the resonant model, the resonance characteristics of continuous and discrete cases, etc. The conclusion that the resonant frequency of the continuous system is anti-resonance frequency and the resonance frequency of the discrete system is natural resonance frequency is obtained. The influence of the gap on the resonant characteristics is analyzed by adding the gap nonlinear factor, and the negative effect of the gap on the original resonance is clarified. The gap reduces the elastic coefficient, and with the increase of the gap, the resonant frequency decreases and the harmonic amplitude increases. Due to the potential harm to the resonant system caused by the conventional frequency sweep method, a fast frequency characteristic acquisition method based on pseudorandom sequence signal and Chirp signal is proposed for the conventional passive suppression resonance method. The simulation and experiments show that the method can obtain the open-loop frequency characteristics of the system quickly and accurately, and then obtain the resonant characteristics. Finally, the suppression method based on axial moment disturbance observer is studied for the mechanical resonance with gaps, and the effect of compensation parameters on the stability of the system is analyzed. From the view of mechanism, the reason of restraining mechanical resonance is analyzed, that is to say, the equivalent inertia ratio is used to control the equivalent increase of the motor inertia, and the purpose of arbitrary adjustment of the axial moment is achieved by using the axial moment disturbance observer. The effectiveness of the scheme is verified by simulation and experiment.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921.54
本文编号：2361516
[Abstract]:In the AC servo system, the drive shaft and coupling are the main driving devices connecting the drive side with the load side. But the actual transmission device will have certain elasticity, the introduction of elastic load will produce mechanical resonance phenomenon. Mechanical resonance will affect the control performance and precision of the system, even lead to the system instability, serious conditions will also cause damage to mechanical transmission, such as wear, broken shaft, etc. The transmission clearance in the actual system is very difficult to avoid, the existence of transmission clearance will aggravate the harm of resonance, and will bring more serious damage such as other shocks. At present, the traditional mechanical resonance suppression method can not effectively suppress the mechanical resonance with gaps. Therefore, it is of great practical significance to solve the problem of mechanical resonance with gaps. In this paper, the mechanical resonance of a double inertia elastic system with transmission clearance is analyzed from the control angle, and the resonant Bode diagram is obtained by using the fast frequency characteristic acquisition method for the resonant system. Furthermore, the resonant characteristic is obtained to facilitate the implementation of passive suppression mode. This paper presents an effective method for suppressing mechanical resonance in resonant systems with gaps, and realizes arbitrary adjustment of axial moment. In this paper, the mechanism of mechanical resonance without gap is studied, including the resonant model, the resonance characteristics of continuous and discrete cases, etc. The conclusion that the resonant frequency of the continuous system is anti-resonance frequency and the resonance frequency of the discrete system is natural resonance frequency is obtained. The influence of the gap on the resonant characteristics is analyzed by adding the gap nonlinear factor, and the negative effect of the gap on the original resonance is clarified. The gap reduces the elastic coefficient, and with the increase of the gap, the resonant frequency decreases and the harmonic amplitude increases. Due to the potential harm to the resonant system caused by the conventional frequency sweep method, a fast frequency characteristic acquisition method based on pseudorandom sequence signal and Chirp signal is proposed for the conventional passive suppression resonance method. The simulation and experiments show that the method can obtain the open-loop frequency characteristics of the system quickly and accurately, and then obtain the resonant characteristics. Finally, the suppression method based on axial moment disturbance observer is studied for the mechanical resonance with gaps, and the effect of compensation parameters on the stability of the system is analyzed. From the view of mechanism, the reason of restraining mechanical resonance is analyzed, that is to say, the equivalent inertia ratio is used to control the equivalent increase of the motor inertia, and the purpose of arbitrary adjustment of the axial moment is achieved by using the axial moment disturbance observer. The effectiveness of the scheme is verified by simulation and experiment.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921.54
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