基于机器学习算法的谐振点漂移的伺服系统最优谐振抑制
Optimal Resonance Suppression of Servo System with Resonance Point Drift Based on Machine Learning Algorithm

DOI: 10.12677/JSTA.2021.94072, PP. 263-273

Keywords: 二质量系统，漂移谐振点，三分法，谐振抑制，模拟退火算法，鲁棒性，相角裕度
Two Mass System, Drift Resonance Point, Trisection, Resonance Suppression, Simulated Annealing Algorithm, Ro-bustness, Phase Margin

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Abstract:

针对谐振点漂移时的伺服系统谐振抑制问题，采用在伺服系统中级联一个陷波滤波器的方法对二质量系统的机械谐振进行抑制。首先，建立二质量系统的数学模型并对谐振机理进行分析，阐述机械谐振产生的原因；其次，利用三分法进行漂移谐振点的在线搜索；然后，分析陷波滤波器的原理并利用模拟退火算法确定陷波滤波器的宽度参数和深度参数；最后，在确定最优参数的基础上进行实验和系统的鲁棒性分析，实验结果表明该方法不仅能快速搜索出漂移谐振点、有效抑制谐振，保持系统的稳定性，而且避免手动调节参数耗时多的缺陷，可以准确、快速地抑制漂移谐振点。
In order to suppress the resonance of the servo system when the resonance point drifts, a notch filter is connected in the servo system to suppress the mechanical resonance of the two mass system. Firstly, the mathematical model of two mass system is established, the resonance mechanism is analyzed, and the causes of mechanical resonance are described; Secondly, the online search of drift resonance point is carried out by using the trisection method; Thirdly, the principle of notch filter is analyzed, and the width and depth parameters of notch filter are determined by simulated annealing algorithm; Then, on the basis of determining the optimal parameters, the robustness of the system is analyzed; Finally, based on the determination of the optimal parameters, experiments and system robustness analysis are carried out. The experimental results show that this method can not only quickly search the drift resonance point, effectively suppress the resonance and maintain the stability of the system, but also avoid the defect of time-consuming manual adjustment of parameters, and can accurately and quickly suppress the drift resonance point.

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