Causes of vibration of servo motor and vibration suppression
This paper analyzes the causes of servo motor vibration. The main methods of current vibration suppression are summarized from a large number of documents. The method of suppressing torsional vibration and torque ripple is analyzed and compared from the dynamic index and system structure. The problems existing in the current vibration suppression method are pointed out, and the development of the vibration suppression method is prospected.
With the development of servo drive technology, servo systems are widely used in industrial robots, CNC machine tools, etc. The advancement of industrial robots and CNC machine tools depends on the machining accuracy, while the servo motor drives the machine, the mechanical rigidity and structure, clearance, shaft The offset of the center will cause the motor to vibrate, and the motor vibration will cause the accuracy of the equipment to decrease. If the accuracy of the industrial robot and CNC machine tool is affected by the vibration of the motor, it will affect the quality of the equipment to be processed. From this perspective, the vibration suppression of the motor is studied. Very necessary. Vibration suppression of electric motors is an important branch in the field of motor control. Research on motor vibration suppression is also important for promoting motor control. The research on control technology for vibration suppression has developed rapidly, and the research on torsional vibration caused by low rigidity of mechanical system is particularly extensive, and many solutions have been proposed. The traditional PID control method is a commonly used method in the past 50 years. Then, the traditional PID control method is improved by using the observer, the trap, the filter and the PID control. The development has been proposed with the adaptive algorithm and fuzzy. Control theory, sliding mode variable structure, H∞ control theory, neural network and genetic algorithm combined control methods, as well as compensation methods added to the fast Fourier transform (FFT). In addition, a method for analyzing the dynamics of the system proposed in the early 1960s, the state empty method methodology, has only begun to be applied in Dingye in recent years. In recent years, it has proposed a high suppression response. Linear control method.
Motor vibration is divided into mechanical vibration and electromagnetic vibration. Torsional vibration and torque ripple are two typical vibrations of mechanical vibration and electromagnetic vibration. Many scholars have studied it. This paper summarizes a large number of literatures in the past 5 years and a small number of documents 5 years ago, focusing on the methods to suppress torsional vibration and torque ripple, longitudinal comparison of similar or similar methods proposed in the literature, to find out the difference between the methods And the applicable object, the horizontal suppression of the same type of vibration suppression method in terms of system complexity, dynamics, robustness and other characteristics, in order to understand the advantages and disadvantages of various vibration suppression methods, and the vibration suppression method Development is forecasting.
