CN110632892A - Input shaping residual vibration suppression method and system adapting to motion system track error - Google Patents

Input shaping residual vibration suppression method and system adapting to motion system track error Download PDF

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CN110632892A
CN110632892A CN201910783628.6A CN201910783628A CN110632892A CN 110632892 A CN110632892 A CN 110632892A CN 201910783628 A CN201910783628 A CN 201910783628A CN 110632892 A CN110632892 A CN 110632892A
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track error
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CN110632892B (en
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张晓波
夏飞扬
何彩英
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SHENZHEN KERUI TECHNOLOGY Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract

The invention provides an input shaping residual vibration suppression method adapting to a motion system track error, which comprises the following steps: s1, acquiring natural frequency of mechanical systemAnd damping coefficient(ii) a S2, establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and acquiring an input shaper pulse amplitude expression; s3, convolution operation is carried out on the reference input signal and the input shaper pulse signal to obtain a shaped command curve C1(ii) a S4 using C in S31A curve driving system for obtaining the actual motion track curve P under the current motion form1And the track error curve C1‑P1(ii) a S5, use C1‑P1Curve compensation curve C1As the next command curve C2A drive system for obtaining a track error curve C under the current motion form1‑P2By C1‑P2Compensation C2Then as the next command curve P3(ii) a S6, repeating the step S5 with the track error curve C1‑P1,2,……nCompensation command curve P1,2,……nAs a next command curve, until the value of the trajectory error curve at each time is close to zero. The method for suppressing the residual vibration by the input shaper does not need to add other hardware equipment, and saves cost.

Description

Input shaping residual vibration suppression method and system adapting to motion system track error
Technical Field
The invention belongs to the field of mechanical control technology improvement, and particularly relates to an input shaping residual vibration suppression method and system adaptive to a motion system trajectory error.
Background
The mechanical motion structure driven by the motors, such as an industrial robot, a numerical control machine tool, a numerical control mechanical structure and the like, has the requirements of high speed, high precision and high stability. The mechanical kinematic structure is generally somewhat flexible due to the presence of the transmission components, such as reducers or pulleys. In the low-speed operation and the starting and stopping stages, the tail end of the mechanical motion structure can generate vibration. The vibration of the mechanical structure not only reduces the response speed of the system to the instruction, but also increases the waiting time between the processes and reduces the production efficiency and precision. Therefore, effective measures must be taken to suppress the vibration of the mechanical moving structure.
The passive vibration damping method of increasing the system damping and the structural rigidity increases the overall weight of the system and increases the energy consumption of the system, the passive vibration damping cannot reduce the vibration with lower frequency, and the active vibration damping needs to be provided with an additional energy device specially used for vibration damping, which increases the cost of the system. Therefore, it is necessary to develop a semi-active damping method capable of effectively suppressing the vibration of the mechanical system, which can reduce the system energy consumption and save the cost. However, the function of the vibration suppression method cannot be fully exerted due to the existence of the track error of the servo system, so that the track error of the servo system under a corresponding motion mode needs to be obtained, and a semi-active vibration suppression method for suppressing the residual vibration of the mechanical system by combining the track error is developed, so that the vibration of the mechanical system is better suppressed.
Disclosure of Invention
The invention aims to provide an input shaping residual vibration suppression method suitable for a motion system track error, and aims to solve the problems that the response speed of a system to a command is reduced due to vibration of a mechanical structure, the waiting time between processes is increased, and the production efficiency and the precision are reduced.
The invention is realized in this way, the suppression method of the shaping residual vibration is input to adapt to the track error of the motion system, the suppression method includes the following steps:
s1, acquiring the natural frequency w of the mechanical system0And a damping coefficient ε;
s2, establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and acquiring an input shaper pulse amplitude expression;
s3, convolution operation is carried out on the reference input curve and the input shaper pulse signal to obtain a shaped input curve C1；
S4 using C in S31A curve driving system for obtaining the actual motion track curve P under the current motion form1And the track error curve C1-P1(trajectory error curve: C)1Curve and actual motion trail curve P under current motion form1,2……nWherein: p1,2,……nRepresenting the actual movement curve of each time, C1,2,……nCommand curves representing respective times);
s5, use C1-P1Curve compensation curve C1As the next command curve C2A drive system for obtaining a track error curve C under the current motion form1-P2By C1-P2Compensation P2Then as the next command curve C3；
S6, repeating the step S5 with the track error curve C1-P1,2,……nCompensation command curve C1,2,……nAs a next command curve, until the value of the trajectory error curve at each time is close to zero.
The further technical scheme of the invention is as follows: the step S1 of acquiring the natural frequency and the damping coefficient of the mechanical system includes the following steps:
s11, driving the load to move along the X axis by the motor and testing a vibration signal of the load by the acceleration sensor;
and S12, analyzing the load residual vibration signal through signal processing to obtain the natural frequency and the damping coefficient of the load.
The further technical scheme of the invention is as follows: the step S2 further includes the following steps:
s21, for a natural frequency of w0The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
Figure BDA0002177318520000031
s22, introducing the input shaper pulse to make the impulse response of the mechanical system be
Figure BDA0002177318520000032
S23, according to a triangular formula, obtaining that the input shaper of the mechanical system presents finite impulse response under the action of pulse, and the amplitude must be zero if the residual vibration is completely eliminated;
s24, if the shaping time is shortest, let t1And adding a gain constraint equation for enabling the mechanical system to reach the original output point:
Figure BDA0002177318520000033
s25 according to the amplitude AiAnd a time lag tiAn input shaper that determines each pulse and satisfies the above system of equations should contain only two pulses, the system of equations being available:
Figure BDA0002177318520000034
Figure BDA0002177318520000035
Figure BDA0002177318520000036
the following can be obtained:
Figure BDA0002177318520000037
Figure BDA0002177318520000038
Figure BDA0002177318520000041
wherein the content of the first and second substances,
Figure BDA0002177318520000042
is the ringing period.
The further technical scheme of the invention is as follows: the step S21 is preceded by the following steps
S20, performing Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
wherein A isiAnd tiThe amplitudes of the pulse train and the corresponding time lags, respectively, n being the number of pulses contained in the input shaper.
The further technical scheme of the invention is as follows: the step S4 further includes the following steps
S41, carrying out prediction path planning processing on the obtained new shaping signal;
and S42, driving a mechanical system by using the new shaping signal subjected to the predicted path planning processing to obtain a track error curve of the servo system in the motion form.
The further technical scheme of the invention is as follows: the step S5 further includes the following steps
S51, compensating the shaped command signal with the track error curve;
and S52, driving a mechanical system to acquire a new track error curve by using the acquired input shaping signal with the track error offset.
It is another object of the present invention to provide a suppression system for shaping residual vibration in response to a trajectory error input of a motion system, the suppression system comprising
A frequency coefficient acquisition module for acquiring the natural frequency w of the mechanical system0And a damping coefficient ε;
the model establishing and expression obtaining module is used for establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and obtaining an input shaper pulse amplitude expression;
command curve C1A module for performing convolution operation on the reference input curve and the input shaper pulse signal to obtain a shaped command curve C1；
Module for obtaining actual motion curve and track error curve for use with command curve C1C in the module1A curve driving system for obtaining the actual motion track curve P under the current motion form1And the track error curve C1-P1Wherein: p1,2,……nRepresenting the actual movement curve of each time, C1,2,……nA command curve representing each time;
compensation acquisition module for using C1-P1Curve compensation curve C1As the next command curve C2A drive system for obtaining a track error curve C under the current motion form1-P2By C1-P2Compensation C2Then as the next command curve C3
A elimination module for repeatedly compensating the track error curve C in the acquisition module1-P1,2,……nCompensation command curve C1,2,……nAs a next command curve, until the value of the trajectory error curve at each time is close to zero.
The further technical scheme of the invention is as follows: the frequency coefficient acquisition module acquires the natural frequency and the damping coefficient of the mechanical system and comprises
The signal acquisition unit is used for driving the load to move along the X axis by the motor and testing a vibration signal of the load by the acceleration sensor;
and the natural frequency and damping coefficient acquisition unit is used for analyzing the load residual vibration signal through signal processing so as to obtain the natural frequency and the damping coefficient of the load.
The further technical scheme of the invention is as follows: the model establishing and expression obtaining module is also packaged
Establishing a closed loop function unit for a natural frequency of w0The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
an impulse response unit for introducing an input shaper impulse such that the impulse response of the mechanical system is
Figure BDA0002177318520000062
The computing unit is used for solving the finite impulse response presented under the action of the input shaper pulse of the mechanical system according to a triangular formula, completely eliminating residual vibration and ensuring that the amplitude value is zero;
adding a gain unit for minimizing the shaping time, and making t1And adding a gain constraint equation for enabling the mechanical system to reach the original output point:
Figure BDA0002177318520000063
a pulse acquisition unit for acquiring a pulse according to the amplitude AiAnd a time lag tiAn input shaper that determines each pulse and satisfies the above system of equations should contain only two pulses, the system of equations being available:
Figure BDA0002177318520000064
Figure BDA0002177318520000065
Figure BDA0002177318520000066
the following can be obtained:
Figure BDA0002177318520000067
Figure BDA0002177318520000068
Figure BDA0002177318520000069
wherein the content of the first and second substances,
Figure BDA00021773185200000610
is the ringing period.
The further technical scheme of the invention is as follows: before the model is established and the closed loop function unit is established, the method also comprises
The frequency domain expression obtaining unit is used for carrying out Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
Figure BDA0002177318520000071
wherein A isiAnd tiThe amplitudes of the pulse sequences and the corresponding time lags are respectively, and n is the number of pulses contained in the input shaper;
the module for obtaining the track error curve further comprises the following steps
The path planning unit is used for carrying out prediction path planning processing on the obtained new shaping signal;
the signal driving unit is used for driving the mechanical system by using a new shaping signal subjected to predicted path planning processing to obtain a track error curve of the servo system under the motion situation;
the compensation shaping module also comprises the following steps
A signal compensation unit for compensating the command signal by using the trajectory error curve;
and the new track error curve acquisition unit is used for driving the mechanical system to acquire a new track error curve by utilizing the obtained shaping signal with the track error offset.
The invention has the beneficial effects that: the method for restraining the residual vibration is combined with the track error, and the effect of restraining the residual vibration by the input shaper is better played, so that the residual vibration of the system can be better restrained, and the stability, the control precision, the working efficiency, the service life of equipment and the like of the system operation are further improved.
Drawings
Fig. 1 is a flowchart of an input shaping residual vibration suppression method adapted to a trajectory error of a motion system according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the input shaping residual vibration suppression method for adapting to the trajectory error of the motion system provided by the present invention is detailed as follows:
step S1, natural frequency w of mechanical system is obtained0And a damping coefficient ε; obtaining natural frequencies w in mechanical systems0And a damping coefficient epsilon.
Step S2, establishing a mathematical model of a linear programming problem about the input shaper pulse amplitude parameter and obtaining an input shaper pulse amplitude expression; establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper, and solving an input shaper pulse amplitude expression by adopting a pulse response method; establishing a mathematical model of a linear programming problem about pulse amplitude parameters of an input shaper, and performing Laplace transform on the mathematical model to obtain a frequency domain expression of the input shaper as follows:
Figure BDA0002177318520000081
wherein A isiAnd tiThe amplitudes of the pulse train and the corresponding time lags, respectively, n being the number of pulses contained in the input shaper.
In a mathematical model of a linear programming problem with respect to input shaper pulse amplitude parameters, the following steps are included: 1) for a natural frequency of w0And establishing a closed loop transfer function of the mechanical system as follows according to a single vibration mode with the damping coefficient of epsilon:
Figure BDA0002177318520000082
2) after introducing the input shaper, the impulse response of the system is:
Figure BDA0002177318520000091
3) according to the trigonometric formula, if the system is required to exhibit limited pulses under the action of the input shaper
Impulse response, complete elimination of residual vibration, requires amplitude to be zero;
4) to minimize the shaping time, let t1And in order to make the system reach the original output point, adding a gain constraint equation:
Figure BDA0002177318520000092
5) each pulse is determined by two values: amplitude AiAnd a time lag tiThe simplest input shaper that satisfies the above equation set should contain only two pulses, and the following equation set can be obtained:
Figure BDA0002177318520000093
Figure BDA0002177318520000094
Figure BDA0002177318520000095
the following can be obtained:
Figure BDA0002177318520000096
Figure BDA0002177318520000097
Figure BDA0002177318520000098
whereinIs the ringing period.
Step S3, convolution operation is carried out on the reference input signal and the input shaper pulse signal to obtain a shaped input signal C1And then the signal is used to drive the system.
Step S4, using C in S31A curve driving system for obtaining the actual motion track curve P under the current motion form1And the track error curve C1-P1(trajectory error curve: C)1Curve and actual motion trail curve P under current motion form1,2……nWherein: p1,2,……nRepresenting the actual movement curve of each time, C1,2,……nRepresenting the respective command curve), the trajectory error curve is usually somewhat noisy and can be subjected to various filtering processes before compensating the shaped input signal.
Step S5, using C1-P1Curve compensation curve C1As the next command curve C2A drive system for obtaining a track error curve C under the current motion form1-P2By C1-P2Compensation C2Then as the next command curve C3(ii) a Since the track error can not be completely compensated once, a track error curve is obtained continuously.
Step S6, repeating the step S5 with the trajectory error curve C1-P1,2,……nCompensation command curve C1,2,……nAs the next command curve, the track error curve is close to zero at each moment, thus eliminating the influence of the track error on the input shaping and vibration suppression, and better playing the role of the input shaping and vibration suppression of the residual of the mechanical system. Because of the influence of the track error of the servo system, the input shaper can not completely play the role of inhibiting the residual vibration of the mechanical system, and the track error is used for continuously compensating the input signal until the track error is close to zero, so that the influence caused by the track error can be eliminated, the role of inhibiting the residual vibration of the input shaper and the residual vibration of the system can be better played.
The method for inhibiting the vibration is a semi-active vibration inhibition mode, and the semi-active vibration inhibition does not need to increase the mass of a mechanical system by increasing damping and rigidity like passive vibration inhibition, and does not need to add an additional expensive energy device for inhibiting the vibration like active vibration inhibition.
It is another object of the present invention to provide a suppression system for input shaped residual vibrations that accommodates errors in trajectory of a motion system, said suppression system comprising
A frequency coefficient acquisition module for acquiring the natural frequency w of the mechanical system0And a damping coefficient ε;
the model establishing and expression obtaining module is used for establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and obtaining an input shaper pulse amplitude expression;
command curve C1A module for performing convolution operation on the reference input curve and the input shaper pulse signal to obtain a shaped command curve C1；
Module for obtaining actual motion curve and track error curve for use with command curve C1C in the module1A curve driving system for obtaining the actual motion track curve P under the current motion form1And the track error curve C1-P1Wherein: p1,2,……nRepresenting the actual movement curve of each time, C1,2,……nA command curve representing each time;
compensation acquisition module for using C1-P1Curve compensation curve C1As the next command curve C2A drive system for obtaining a track error curve C under the current motion form1-P2By C1-P2Compensation C2Then as the next command curve C3
A elimination module for repeatedly compensating the track error curve C in the acquisition module1-P1,2,……nCompensation command curve C1,2,……nAs a next command curve, until the value of the trajectory error curve at each time is close to zero.
The frequency coefficient acquisition module acquires the natural frequency and the damping coefficient of the mechanical system and comprises
The signal acquisition unit is used for driving the load to move along the X axis by the motor and testing a vibration signal of the load by the acceleration sensor;
and the natural frequency and damping coefficient acquisition unit is used for analyzing the load residual vibration signal through signal processing so as to obtain the natural frequency and the damping coefficient of the load.
The model establishing and expression obtaining module also comprises a closed loop function establishing unit for establishing a natural frequency w0The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
Figure BDA0002177318520000121
an impulse response unit for introducing an input shaper impulse such that the impulse response of the mechanical system is
The computing unit is used for solving the finite impulse response presented under the action of the input shaper pulse of the mechanical system according to a triangular formula, completely eliminating residual vibration and ensuring that the amplitude value is zero;
adding a gain unit for minimizing the shaping time, and making t1And adding a gain constraint equation for enabling the mechanical system to reach the original output point:
Figure BDA0002177318520000123
a pulse acquisition unit for acquiring a pulse according to the amplitude AiAnd a time lag tiAn input shaper that determines each pulse and satisfies the above system of equations should contain only two pulses, the system of equations being available:
Figure BDA0002177318520000124
Figure BDA0002177318520000125
Figure BDA0002177318520000126
the following can be obtained:
Figure BDA0002177318520000127
Figure BDA0002177318520000128
Figure BDA0002177318520000129
wherein the content of the first and second substances,
Figure BDA00021773185200001210
is the ringing period.
Before the model is established and the closed loop function unit is established, the method also comprises
The frequency domain expression obtaining unit is used for carrying out Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
Figure BDA0002177318520000131
wherein A isiAnd tiThe amplitudes of the pulse sequences and the corresponding time lags are respectively, and n is the number of pulses contained in the input shaper;
the module for obtaining the track error curve further comprises the following steps
The path planning unit is used for carrying out prediction path planning processing on the obtained new shaping signal;
the signal driving unit is used for driving the mechanical system by using a new shaping signal subjected to predicted path planning processing to obtain a track error curve of the servo system under the motion situation;
the compensation shaping module also comprises the following steps
A signal compensation unit for compensating the trajectory error curve for the command signal;
and the new track error curve acquisition unit drives the mechanical system to acquire a new track error curve by using the compensated command signal.
The method for inhibiting the residual vibration is combined with the track error, and the effect of inhibiting the residual vibration by the input shaper is better exerted, so that the residual vibration of the system can be better inhibited, and the running stability, the control precision, the working efficiency, the service life of equipment and the like of the system are further improved.
The compensated input shaping signal is used as a final input signal to drive the system, so that the effect of inhibiting residual vibration by input shaping is enhanced, the residual vibration of a mechanical system is better inhibited, the working efficiency and the positioning accuracy of the system are improved to a great extent, and the service life of equipment is prolonged; the method for suppressing the residual vibration by the input shaper does not need to add other hardware equipment, and saves cost.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An input shaping residual vibration suppression method adapting to a motion system trajectory error is characterized by comprising the following steps:
s1, acquiring the natural frequency w of the mechanical system0And a damping coefficient ε;
s2, establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and acquiring an input shaper pulse amplitude expression;
s3, convolution operation is carried out on the reference input curve and the input shaper pulse signal to obtain a shaped command curve C1；
S4 using C in S31A curve driving system for obtaining the actual motion track curve P under the current motion form1And the track error curve C1-P1Wherein: p1,2,……nRepresenting the actual movement curve of each time, C1,2,……nA command curve representing each time;
s5, use C1-P1Curve compensation curve C1As the next command curve C2A drive system for obtaining a track error curve C under the current motion form1-P2,With C1-P2Compensation C2Then as the next command curve C3；
S6, repeating the step S5 with the track error curve C1-P1,2,……nCompensation command curve C1,2,……nAs a next command curve, until the value of the trajectory error curve at each time is close to zero.
2. The suppressing method according to claim 1, wherein the step S1 of obtaining the natural frequency and the damping coefficient of the mechanical system comprises the steps of:
s11, driving the load to move along the X axis by the motor and testing a vibration signal of the load by the acceleration sensor;
and S12, analyzing the load residual vibration signal through signal processing to obtain the natural frequency and the damping coefficient of the load.
3. The suppressing method according to claim 2, wherein the step S2 further includes the steps of:
s21, for a natural frequency of w0The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
Figure FDA0002177318510000021
s22, introducing the input shaper pulse to make the impulse response of the mechanical system be
Figure FDA0002177318510000022
S23, according to a triangular formula, obtaining that the input shaper of the mechanical system presents finite impulse response under the action of pulse, and the amplitude must be zero if the residual vibration is completely eliminated;
s24, if the shaping time is shortest, let t1And adding a gain constraint equation for enabling the mechanical system to reach the original output point:
s25 according to the amplitude AiAnd a time lag tiAn input shaper that determines each pulse and satisfies the above system of equations should contain only two pulses, the system of equations being available:
Figure FDA0002177318510000026
the following can be obtained:
Figure FDA0002177318510000027
Figure FDA0002177318510000028
wherein the content of the first and second substances,
Figure FDA0002177318510000031
is the ringing period.
4. The suppressing method according to claim 3, further comprising the step of, before the step S21
S20, performing Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
Figure FDA0002177318510000032
wherein A isiAnd tiThe amplitudes of the pulse train and the corresponding time lags, respectively, n being the number of pulses contained in the input shaper.
5. The suppressing method according to any one of claims 1 to 4, wherein the step S4 further includes the step of
S41, carrying out prediction path planning processing on the obtained shaping signal;
and S42, driving a mechanical system by using the new shaping signal subjected to the predicted path planning processing to obtain a track error curve of the servo system under the motion situation.
6. The suppressing method according to any one of claims 1 to 5, wherein the step S5 further includes the step of
S51, compensating the shaped input signal by the track error curve;
and S52, driving a mechanical system by using the obtained compensated input shaping signal, and obtaining the track error between the actual motion track in the motion mode and the shaped input track in the S3.
7. Suppression system for input shaped residual vibrations adapted to errors in trajectory of a moving system, characterized in that said suppression system comprises
A frequency coefficient acquisition module for acquiring the natural frequency w of the mechanical system0And a damping coefficient ε;
the model establishing and expression obtaining module is used for establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and obtaining an input shaper pulse amplitude expression;
command curve C1A module for performing convolution operation on the reference input curve and the input shaper pulse signal to obtain a shaped command curve C1；
Module for obtaining actual motion curve and track error curve for use with command curve C1C in the module1A curve driving system for obtaining the actual motion track curve P under the current motion form1And the track error curve C1-P1Wherein: p1,2,……nRepresenting the actual movement curve of each time, C1,2,……nA command curve representing each time;
compensation acquisition module for using C1-P1Curve compensation curve C1As the next command curve C2A drive system for obtaining a track error curve C under the current motion form1-P2By C1-P2Compensation C2Then as the next command curve C3
A elimination module for repeatedly compensating the track error curve C in the acquisition module1-P1,2,……nCompensation command curve C1,2,……nAs a next order songLine until the value of the trajectory error curve at each time instant approaches zero.
8. The suppression system of claim 7, wherein the frequency coefficient acquisition module acquiring the natural frequency and the damping coefficient of the mechanical system comprises
The signal acquisition unit is used for driving the load to move along the X axis by the motor and testing a vibration signal of the load by the acceleration sensor;
and the natural frequency and damping coefficient acquisition unit is used for analyzing the load residual vibration signal through signal processing so as to obtain the natural frequency and the damping coefficient of the load.
9. The suppression system according to claim 8, wherein the model building and expression obtaining module further comprises
Establishing a closed loop function unit for a natural frequency of w0The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
Figure FDA0002177318510000051
an impulse response unit for introducing an input shaper impulse such that the impulse response of the mechanical system is
The computing unit is used for solving the finite impulse response presented under the action of the input shaper pulse of the mechanical system according to a triangular formula, completely eliminating residual vibration and ensuring that the amplitude value is zero;
adding a gain unit for minimizing the shaping time, and making t1And adding a gain constraint equation for enabling the mechanical system to reach the original output point:
Figure FDA0002177318510000053
a pulse acquisition unit for acquiring a pulse according to the amplitude AiAnd a time lag tiAn input shaper that determines each pulse and satisfies the above system of equations should contain only two pulses, the system of equations being available:
Figure FDA0002177318510000054
Figure FDA0002177318510000055
Figure FDA0002177318510000056
the following can be obtained:
Figure FDA0002177318510000057
Figure FDA0002177318510000058
Figure FDA0002177318510000059
wherein the content of the first and second substances,
Figure FDA0002177318510000061
is the ringing period.
10. The suppression system of claim 9, wherein the modeling and building a closed-loop function unit is preceded by
The frequency domain expression obtaining unit is used for carrying out Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
Figure FDA0002177318510000062
wherein A isiAnd tiThe amplitudes of the pulse sequences and the corresponding time lags are respectively, and n is the number of pulses contained in the input shaper;
the module for obtaining the track error curve further comprises the following steps
The path planning unit is used for carrying out prediction path planning processing on the obtained new shaping signal;
the signal driving unit is used for driving the mechanical system by using a new shaping signal subjected to predicted path planning processing to obtain a track error curve of the servo system under the motion situation;
the compensation shaping module also comprises the following steps
A signal compensation unit for compensating the trajectory error curve for the command signal;
and the new track error curve acquisition unit drives a mechanical system by using the compensated shaping input signal to acquire the track error between the actual motion track in the motion mode and the shaped input track in the S3.
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