基于控制图下谐振点随机扰动的伺服系统谐振抑制

Resonance Suppression of Servo System Based on Random Disturbance of Resonance Point in Control Chart

摘要: 针对谐振点随机扰动下的伺服系统谐振抑制问题，采用优化设计陷波滤波器的方法，并结合控制图对二质量系统进行谐振抑制。首先，建立二质量系统数学模型，并对机械谐振机理进行分析；其次，对于随机扰动的谐振点，利用控制图原理，提出控制限的确定方法；然后，利用优化算法确定陷波滤波器参数，达到既能有效抑制谐振又能使相角损失最小，达到防止过度抑制的目的；最后，仿真与实验结果表明，该方法不仅能有效抑制谐振，保持系统的稳定性，而且避免手动调节参数耗时多的缺陷，可以准确、快速地抑制随机扰动的谐振。

Abstract: Aiming at the problem of resonance suppression of servo system under random disturbance of resonance point, the optimal design of notch filter and control chart is used to suppress the resonance of two mass system. Firstly, the mathematical model of two mass system is established, and the mechanism of mechanical resonance is analyzed. Secondly, for the resonance point of random disturbance, the method to determine the control limit is proposed by using principle of control chart. Then the parameters of notch filter are determined by using the optimization algorithm, which can effectively suppress resonance and minimize phase angle loss, so as to prevent excessive suppression. Finally, the simulation results are given. The real and experimental results show that the method can not only effectively suppress the resonance and maintain the stability of the system, but also avoid the defect of manual adjustment of parameters, and can accurately and quickly suppress the resonance of random disturbance.