帶傳動間隙的彈性負(fù)載系統(tǒng)機械諧振機理分析及抑制
發(fā)布時間：2018-11-27 17:11
【摘要】：在交流伺服系統(tǒng)中，傳動軸、聯(lián)軸器等是連接驅(qū)動側(cè)與負(fù)載側(cè)的主要傳動裝置。而實際的傳動裝置會存在一定的彈性，彈性負(fù)載的引入就會產(chǎn)生機械諧振現(xiàn)象。機械諧振會影響系統(tǒng)控制性能及精度，甚至導(dǎo)致系統(tǒng)失穩(wěn)，嚴(yán)重的情況還會對機械傳動裝置產(chǎn)生損害，比如磨損、斷軸等。實際系統(tǒng)中的傳動間隙是很難避免的，傳動間隙的存在會加劇諧振的危害，并會帶來其他沖擊等更為嚴(yán)重的損害，而目前傳統(tǒng)的機械諧振抑制手段不能有效的對含間隙的機械諧振進(jìn)行抑制。所以解決含間隙的機械諧振問題具有重要的實際意義。 本論文針對含傳動間隙的雙慣量彈性系統(tǒng)在控制角度分析了機械諧振的情況，并針對含諧振系統(tǒng)利用快速頻率特性獲取方法獲得諧振Bode圖，進(jìn)而得到諧振特性方便被動抑制方式的實施。提出一種可以應(yīng)用在含間隙諧振系統(tǒng)的有效抑制機械諧振的方法，并能實現(xiàn)軸矩的任意調(diào)節(jié)。 本文首先研究了不含間隙的機械諧振機理，包括諧振模型、連續(xù)和離散情況的諧振特性等。得到連續(xù)系統(tǒng)的諧振頻率為抗諧振頻率，離散系統(tǒng)的諧振頻率為自然諧振頻率的結(jié)論。進(jìn)一步加入間隙非線性因素，分析間隙對諧振特性的影響，明確了間隙對原有諧振的負(fù)面影響。間隙相當(dāng)于減小了彈性系數(shù)，，隨著間隙的增大，諧振頻率降低諧振幅值加大。 由于常規(guī)掃頻方式會對諧振系統(tǒng)產(chǎn)生潛在危害，所以隨后針對常規(guī)的被動抑制諧振手段分析并提出基于偽隨機序列信號和基于Chirp信號的快速頻率特性獲取方法。通過仿真及實驗驗證了該方法能做到快速、準(zhǔn)確的獲取系統(tǒng)開環(huán)頻率特性，進(jìn)而得到諧振特性。 最后針對含間隙的機械諧振研究了基于軸矩擾動觀測器的抑制方法，并分析補償參數(shù)對系統(tǒng)穩(wěn)定性的影響。從機理的角度分析該方案抑制含機械諧振的原因，即利用等效慣量比控制等效增加電機慣量，并通過軸矩擾動觀測器做到了軸矩任意調(diào)節(jié)的目的。通過仿真及實驗對比驗證了方案的有效性。
[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.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM921.54
本文編號：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.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM921.54
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相關(guān)期刊論文 前5條
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