伺服控制系統之機械振動偵測及抑制

Detection and Suppression of Mechanical Vibration in Servo Control System

王士銓(Shih-Chuan Wang)

指導教授 ： 楊勝明

國立臺北科技大學/電資學院/電機工程系研究所/碩士(2013年)

https://doi.org/10.6841/NTUT.2013.00150

摘要

伺服控制系統被廣泛的使用於工業應用上，如機械手臂、工具機…等，由於這些伺服控制系統經常使用高的控制增益，及搭配具有彈性的耦合器做為傳動，而導致機械振動的發生，這些振動會造成速度、位置的誤差，及系統的損壞。有鑑於此，本文提出一個新的伺服控制系統之機械振動偵測的方法並搭配凹陷濾波器來達到抑制的效果。此方法利用速度誤差及帶通濾波器進行振動頻率追蹤，當追蹤到正確的振動頻率後，利用串接於速度回授的凹陷濾波器進行振動抑制。最後，藉由理論分析與實驗結果驗證所提出的方法可有效的偵測機械振動並抑制。

關鍵字

扭矩振動 ； 機械共振 ； 振動抑制 ； 兩慣量系統

並列摘要

Servo control systems are used in a wide range of industrial applications such as robotics, and machine tools. Due to the elastic nature of mechanical linkages and high servo gains mechanical vibration may occurs in servo control systems. These vibrations may introduce velocity and positioning errors and may be harmful to the mechanical components. Therefore, a novel mechanical vibration detection and suppression by notch filter scheme in servo control system is presented in this thesis. The scheme uses velocity error and band pass filters to track resonance frequencies. After the detection a notch filter cascaded to the velocity feedback can be set to suppress the vibration. The theorem and experimental result shows that the proposed scheme can detect and suppress mechanical vibrations effectively.

並列關鍵字

Torsional Vibration ； Mechanical Resonance ； Vibration Suppression ； Two Inertia System

參考文獻

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