Abstract
A novel method for middle frequency resonance detection and reduction is proposed for speed control in industrial servo systems. Defects of traditional resonance reduction method based on adaptive notch filter in middle frequency range are analyzed. And the main reason is summarized as the difference between the resonance frequency and the oscillation frequency. A self-tuning low-pass filter is introduced in the speed feedback path, whose corner frequency is determined by FFT results and several self-tuning rules. With the proposed method the effective range of the adaptive filter is extended across the middle frequency range. Simulation and Experiment results show that the frequency detection is accurate and resonances during the speed steady states and dynamics are successfully reduced.
Highlights
Servo drives are used in a wide range of industrial applications including metal cutting, packaging, textiles, webhandling, automated assembly, and printing
Practical problems exist such as online tuning of the observer gains, and bandwidth of the filters. This method are seldom adopted in applications with oscillation frequency higher than 200 Hz [8,9,10]. Another well-studied cure of mechanical resonances is adaptive notch filter based on oscillation frequency detection [11]
Defects of traditional adaptive notch filters in middle-frequency range are analyzed, and an improved resonance frequency detection and reduction method based on self-tuning lowpass filter is proposed
Summary
Servo drives are used in a wide range of industrial applications including metal cutting, packaging, textiles, webhandling, automated assembly, and printing. A third scheme to reduce resonances is to introduce an additional feedback loop through the measurement of load velocity signal [2] or shaft torque [3, 4]. Practical problems exist such as online tuning of the observer gains, and bandwidth of the filters With these drawbacks, this method are seldom adopted in applications with oscillation frequency higher than 200 Hz [8,9,10]. This method are seldom adopted in applications with oscillation frequency higher than 200 Hz [8,9,10] Another well-studied cure of mechanical resonances is adaptive notch filter based on oscillation frequency detection [11]. The blank area between state variables feedback methods and traditional adaptive notch filter methods is filled up
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