永磁交流伺服系统机械谐振成因及其抑制

永磁交流伺服系统中机械传动装置的刚度有限,传动装置的弹性会在系统中引发机械谐振.针对典型伺服驱动系统中的机械传动装置,建立了电机-负载双惯量模型,通过理论分析阐明机械谐振形成的原理,并建立起关键参数与谐振现象的定量关系.通过仿真分析了弹性传动装置对伺服驱动系统性能的影响,并研究了使用陷波滤波器抑制机械谐振的控制效果.仿真结果验证了机械谐振特性理论分析的正确性,同时也验证了陷波滤波器的有效性及局限性.陷波滤波器在对机械谐振产生抑制的同时,还会在系统中引入两个不同频率的谐振,进而无法完全消除谐振的影响.

Cause and suppression of mechanical resonance in PMSM servo system

Transmission mechanisms in permanent magnet synchronous motor(PMSM) servo system have finite stiffness,that lead to mechanical resonance in servo system.The model of 2-mass transmission mechanisms is established,and theoretical analysis of mechanical resonance is achieved,considering the relationship between key parameters and resonance phenomena.Simulation analysis of the effect of elastic transmission mechanisms was accomplished,and studied the control effect of suppressing resonance with a notch filter.Simulation results confirmed theoretical analysis of mechanical resonance,and meanwhile proved the availability and limitation of notch filter.Vibration of two different frequencies will be inducted into the system while the mechanical resonance is suppressed by notch filter;hence the mechanical resonance cannot be eliminated completely.