Resonant frequency estimation for adaptive notch filters in industrial servo systems

Bahn, Wook; Kim, Tae Il; Lee, Sanghoon; Cho, Dong‐il Dan

doi:10.1016/j.mechatronics.2016.11.004

Cited by 34 publications

(5 citation statements)

References 18 publications

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“…In addition, two bi-quad notch filters with center frequencies at 871 Hz and 1615 Hz are cascaded right after the LPF to suppress the high-frequency resonances in the ball-screw drive system. The resonance frequencies of the system were found by an online frequency estimator [49] in prior. By utilizing the LPF and the two NFs, the system can be modeled as follows:…”

Section: Methodsmentioning

confidence: 99%

Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Han

Kim

et al. 2020

IEEE Trans. Ind. Electron.

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This article presents a novel method of dealing with disturbances and control saturation in the framework of discrete-time sliding mode control (DSMC). A DSMC with decoupled disturbance compensator (DDC) was developed for SMC to recover the loss of stability in the discrete-time domain. However, windup phenomena occur in both the switching function and the disturbance estimate when control saturation occurs, and the method cannot guarantee stability. The article develops a new method for maintaining stability under both disturbances and control saturation by incorporating a novel auxiliary state into the DSMC with DDC method. The auxiliary state prevents the windup phenomena, and the developed new method preserves the asymptotic convergence property of the disturbance estimation error dynamics and the stability of the sliding mode dynamics. Also, the error states are stable under bounded disturbances and control saturation. Simulations and experiments are performed on a commonly used industrial servo system to demonstrate the effectiveness of the proposed method. Index Terms-Discrete-time systems, sliding mode control (SMC), servosystems. I. INTRODUCTIONS LIDING mode control (SMC) is a special kind of variable structure control and is one of the most successful approaches in general control systems with bounded and matched disturbances. SMC drives the state variables to a predesigned sliding surface in a finite time and then keeps them on the sliding surface in the presence of the bounded disturbance. Therefore,

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Section: Methodsmentioning

confidence: 99%

Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Han

Kim

et al. 2020

IEEE Trans. Ind. Electron.

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“…As a primary method of mechanical transmission, gear transmission is widely used in the precision servo mechanism field, such as robot, seeker and inertially stabilized platforms, which have the requirements of fast response, high positioning accuracy and good stability (Chung et al, 2010;Hilkert, 2008;Slamani and Bonev, 2013;Baek et al, 2003a). However, the traditional gear transmission mechanisms have the disadvantages of backlash, friction and elasticity, which limit the performance of response, positioning accuracy and sta-bility, and they are seriously restricted in the application of high-precision servo systems.…”

Section: Introductionmentioning

confidence: 99%

“…Acceleration feedback loop and notch filter are used in some research to suppress the mechanism resonance (Lee et al, 2012;Szabat and Orlowska-Kowalska, 2007;George and Gao, 2001;George, 2004;Hoogendijk et al, 2014). However, If the notch filter's center frequency is different from the actual resonant frequency, the closed-loop system could exhibit increased oscillations or even become unstable (Bahn et al, 2016). The center frequency of the notch filter must be the same as the resonance frequency accurately, which is difficult when the resonance frequency is approximately equal to the crossover frequency of the speed loop; the acceleration feedback also increases the cost of system.…”

Section: Introductionmentioning

confidence: 99%

Design optimization analysis of an anti-backlash geared servo system using a mechanical resonance simulation and experiment

et al. 2021

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Abstract. In many mechatronic systems, gear transmission chains are often used to transmit motion and power between motors and loads, especially for light, small but large torque output systems. Gear transmission chains will inevitably bring backlash as well as elasticity of shafts and meshing teeth. All of these nonlinear factors will affect the performance of mechatronic systems. Anti-backlash gear systems can reduce the transmission error, but elasticity has to be considered too. The aim of this paper is to find the key parameters affecting the resonance and anti-resonance frequencies of anti-backlash gear systems and then to give the design optimization methods of improving performance, both from element parameters and mechanical designing. The anti-backlash geared servo system is modeled using a two-inertia approximate model; a method of computing the equivalent stiffness of anti-backlash gear train is proposed, which comprehensively considers the total backlash of transmission chain, gear mesh stiffness, gear shaft stiffness and torsional spring stiffness. With the s-domain block diagram model of the anti-backlash geared servo system, the influences of four main factors on the resonance and anti-resonance frequencies of system are analyzed by simulation according to the frequency response, and the simulation analysis results dependent on torsional spring stiffness of anti-backlash gear pair and load moment of inertia variation are verified by the experiment. The errors between simulation and experimental results are less than 10 Hz. With these simulation and experiment results, the design optimization methods of improving the resonance and anti-resonance frequencies such as designing the center distance adjusting mechanism to reduce the initial total backlash, increasing the stiffness of torsional spring and lightweight design of load are proposed in engineering applications.

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“…e resonant online suppressing algorithm based on adaptive IIR notch filter was proposed by Li et al in accordance with the application requirements; the resonant frequency of the system was online estimated and then the frequency parameters of notch filter was adjusted online by using a recursive least-squares algorithm [14]. Bahn et al brought a new algorithm for estimating the resonant frequency of adaptive notch filters in servo systems, which was proportional to the difference in the estimated frequency and actual frequency and allowed to select the estimation parameters independent from the value of resonant frequencies [15]. To improve the performance of the servo system to overcome the influence of the previously neglected elastic components, the adaptive notch filter was employed by Yang et al for online resonant suppression; thus, the characteristics of the mechanical resonance could be identified quickly, and the parameters of the notch filter could be automatically adjusted by the identification results [16].…”

Section: Introductionmentioning

confidence: 99%

Study on the Resonant Suppression of Electrohydraulic Servo Shaking Table of a 2‐Mass Dynamic System

Wang

Jun

2019

Shock and Vibration

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Since the load of electrohydraulic servo shaking table is an elastic load, there is a mutual coupling effect that exists between the experimental object and the shaking table, forming the resonance to weaken the dynamic characteristics, and producing resonant peak and resonant valley in the bandwidth required by the system, in which the amplitude is often larger than the stability range of acceleration’s amplitude. In this paper, the mathematical modeling of hydraulic power mechanism in a two-mass dynamic system is established based on electrohydraulic servo shaking table, yielding the frequency characteristic curve in accordance with the transfer function of the model. A multifrequency adaptive notch filter based on the least mean square algorithm is proposed to suppress the resonance, and the suppression effect of the resonance is simulated and verified in line with various values of load stiffness. Finally, the power spectrum is used to demonstrate the effectiveness of the multifrequency adaptive notch filter in the resonant suppression.

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Resonant frequency estimation for adaptive notch filters in industrial servo systems

Cited by 34 publications

References 18 publications

Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Design optimization analysis of an anti-backlash geared servo system using a mechanical resonance simulation and experiment

Study on the Resonant Suppression of Electrohydraulic Servo Shaking Table of a 2‐Mass Dynamic System

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