Abstract
Transmission mechanisms of the servo drive system are not a pure rigid body, and the existence of the elastic transmission mechanisms will make the system generate mechanical resonance. Aiming at mechanical resonance of the servo drive system, the resonance generation mechanism is analyzed, the four‐mass model considering the time‐varying meshing stiffness of the gear is established, and the influence of different stiffness parameters on the mechanical resonance of the system is researched in this paper. The composite controller of Model Predictive Control (MPC) with Notch Filter is used to simulate the mechanical resonance suppression of the four‐mass servo system considering time‐varying meshing stiffness, and it is compared with the mechanical resonance suppression method based on Model Predictive Control. The simulation results show that when the step speed is 200 r/min, the overshoot is reduced from 11.6 r/min to 1.1 r/min, which is reduced by 90.5%. Under the impact load condition, from 10 Nm to 30 Nm, overshoot is reduced from 34.3 r/min to 12.8 r/min, reduced by 62%, and torque oscillation is reduced by 81.5%. Therefore, the composite controller of Model Predictive Control with Notch Filter can suppress the mechanical resonance problem effectively, caused by elastic transmission, and improve the robustness of servo drive system.
Highlights
Servo drive system is a common electromechanical system, which has the relationship of multiphysical processes and multicomplex parameter coupling
Analysis of the control effect of two control methods is given in Table 2. e speed response time of Model Predictive Control (MPC) method is faster than MPC + Notch Filter composite controller, because increasing the filter is equivalent to adding an additional delay link, resulting in a longer response time of the system. e servo drive system requires high accuracy of speed tremble and position offset, but the response time does not affect the control effect of four-mass servo drive system in this paper
Dynamic Characteristic Analysis of Impact Load. e operation process of servo drive system is often affected by the impact load. erefore, it is necessary to analyze the dynamic characteristics of the two control methods with impact load. e reference speed is still set to 1000 r/min
Summary
Servo drive system is a common electromechanical system, which has the relationship of multiphysical processes and multicomplex parameter coupling. It is widely used in industrial fields such as industrial robots and hydraulic machine tools [1, 2]. Owing to the existence of backlash and other factors, vibration will be produced and transmitted to the drive motor, resulting in the occurrence of coupling vibration and affecting the life of the motor in the process of transmission. Erefore, it is important to deeply analyze and suppress the vibration mechanism of servo drive system. For reasons of efficiency and cost, it is rarely applied to the industrial field [5]
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