基于特定振动反馈的柔性系统振动抑制方法

提出一种基于特定振动反馈的柔性系统振动抑制方法。该方法在传统的电机三环控制结构的基础上使用滤波器将系统末端位移的主要振动提取出来,并反馈到系统的输入端以对振动自身进行抑制,结构和参数设计简单。首先以三质量块系统为例,分析了该方法的闭环传递函数和设计步骤,并讨论了该方法的本质;然后将此方法扩展到模型为更多质量块甚至为不均匀质量块的柔性系统的振动抑制问题;最后设计了抑制负载终端扰动的补偿方法,并通过仿真证明了上述方法的有效性。

Resonant Suppression of Flexible System by Feedback Compensation of Resonant Frequencies

A method is proposed for the resonant suppression of flexible system based on vibration signal feedback.Based on the control structure of torque,speed and position feedback,this method has filtered some specific vibration frequencies of the output and then fed back them to the input of the system.It has a concise control structure and simple parameter design procedures.Taken a three-mass system as an instance,the transfer function and the procedures of controller design are explained and the essential of resonant suppression is presented.Then the controller design is extended to a general flexible system where consists of more masses even unequal qualities/inertias.Finally,a load force compensator is added to mitigate the load terminal disturbance.Simulation results show the validation of the method.