Research of Mechanical Resonance Analysis and Suppression Control Method of the Servo Drive System

Li, Wenli; Liu, Yongkang; Ge, Shuaishuai; Liao, Daming

doi:10.1155/2021/5627734

Cited by 5 publications

(2 citation statements)

References 23 publications

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“…Due to the various disadvantages of traditional control systems and the advantages of distributed control systems, most modern robot control systems now use distributed control structures. Te development of distributed control systems has evolved with times, which means that the structure of industrial robots is diversifed [9].…”

Section: Overview Of the Robot Controlmentioning

confidence: 99%

Application of Microcontroller-Based Multipath Servos in Industrial Robot Control Systems

2023

Journal of Robotics

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In recent years, nanotechnology has continued to develop, especially the use of nanomaterials in various fields. Microcontroller is the most typical embedded system at this stage. With the development of science and technology, microcontroller has been widely used in people’s production life. A simple and practical multiservo controller can be built by using microcontroller and LED control chip PCA9685, which can realize at least 16 channels of servo control. In this paper, the control program of multichannel actuator is designed in detail, and the speed regulation of multichannel actuator is studied, which is applied to the industrial robot system driven by actuator. Nanomaterials, as new materials with various unique properties, have great application prospects, and this paper investigates the extension of nanomaterials in the field of robotic systems.

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Section: Overview Of the Robot Controlmentioning

confidence: 99%

Application of Microcontroller-Based Multipath Servos in Industrial Robot Control Systems

2023

Journal of Robotics

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“…Torsional vibration problems in transmission systems already exist in industrial applications, such as rolling mills, servo motor control, or similar multi-mass systems. In such systems, torsional resonance frequencies exist as a function of motor and load inertia and shaft stiffness [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Non-singular Fast Terminal Sliding Mode Control Torsional Vibration Suppression for PM Synchronous Transmission System of EVs

Jia,

Zhao,

et al. 2023

PIER M

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To suppress the torsional vibration caused by the omission of couplings and dampers during flexible power transmission in the permanent magnet (PM) synchronous drive system of pure electric vehicles (EVs), this paper presents a non-singular fast terminal sliding mode control (NFTSMC) torsional vibration suppression strategy based on a sliding mode disturbance observer (SMDO). First, a PM synchronous drive system is simplified as a two-inertia model, and a mathematical model is established. Then, an NFTSMC controller of the load-side speed feedback is designed to suppress torsional vibration. Meanwhile, an SMDO is designed to estimate the load disturbance, and the estimated value is fed back to the controller to perform feedforward compensation. The robustness of the system is improved, and the effect of the load disturbance on the system is reduced. The results of the simulations and experiments show that the presented NFTSMC based on the SMDO strategy has a strong torsional vibration suppression effect compared to PI control and conventional sliding mode control.

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Online Mechanical Resonance Frequency Identification Method Based on an Improved Second-Order Generalized Integrator—Frequency-Locked Loop

Wu,

Zhang,

et al. 2024

Electronics

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To address the issue of mechanical resonance frequency detection in dual-inertia servo systems, this paper proposes an online identification method for mechanical resonance frequency using a low-pass filter and cascaded second-order generalized integrator—frequency-locked loop (LPF-CSOGI-FLL). Initially, the cascaded second-order generalized integrator—frequency-locked loop (CSOGI-FLL) is employed to eliminate the interference of direct current (DC) bias in resonance frequency identification. From a dual-stage structural perspective, the first second-order generalized integrator (SOGI-FLL) acts as a band-pass pre-filter to extract the mechanical resonance signal from the signal to be tested. The second SOGI-FLL generates a signal with equal amplitude and frequency to the mechanical resonance and obtains the frequency of the resonance signal through the frequency-locked loop. Subsequently, a low-pass filter (LPF) is applied to the frequency feedback loop of the second-stage SOGI-FLL, effectively reducing the oscillation of the estimated frequency. Finally, combining the CSOGI-FLL with an LPF forms a novel structure, namely, LPF-CSOGI-FLL. The results demonstrate that the proposed method significantly improves the detection accuracy of mechanical resonance frequency under various conditions. Compared to traditional offline techniques, this method overcomes the impact of resonance frequency drift and enhances system stability.

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Research of Mechanical Resonance Analysis and Suppression Control Method of the Servo Drive System

Cited by 5 publications

References 23 publications

Application of Microcontroller-Based Multipath Servos in Industrial Robot Control Systems

Application of Microcontroller-Based Multipath Servos in Industrial Robot Control Systems

Non-singular Fast Terminal Sliding Mode Control Torsional Vibration Suppression for PM Synchronous Transmission System of EVs

Online Mechanical Resonance Frequency Identification Method Based on an Improved Second-Order Generalized Integrator—Frequency-Locked Loop

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