CN109240087A - Change the method and system that instruction plan frequency inhibits vibration in real time - Google Patents
Change the method and system that instruction plan frequency inhibits vibration in real time Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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Abstract
This application involves a kind of method and systems for changing instruction plan frequency in real time and inhibiting vibration, and wherein method includes: acquisition instruction planning；Corresponding frequency content is estimated according to instruction planning；According to the time shaft of the adaptive adjustment instruction planning of the resonance frequency of frequency content and system, to change frequency content and avoid resonance frequency.The application is after obtaining the instruction being filtered to system planning, instruction is estimated using adaptive frequency estimator device plans corresponding frequency content, to the time shaft of the adaptive adjustment instruction planning of resonance frequency according to the frequency content and system, to change the frequency content of instruction planning, to avoid resonance frequency, system is filtered with realizing and inhibits to vibrate, and any deformation will not be generated to the track profile of instruction planning, further reduced the resonance amplitude and convergence time of system.
Description
Technical field
This application involves automatic control technology fields, inhibit vibration more particularly to a kind of instruction plan frequency that changes in real time
Method and system.
Background technique
With AC servo application increasingly extensively, it is past in the Automated assembly, process in industrial production line
It is past that end effector mechanism is required to have stronger quick stationkeeping ability.But due to the flexible connection of end effector, lead to it
Occur prolonged residual oscillation after movement, and become apparent in the case where high speed, high acceleration moving, thus greatly
Width reduces the positioning accuracy and speed of end effector, or even influences the stability of control system.
For above-mentioned mechanical resonant problem, in conventional solution, passes through and add trap filter in feedback control loop
Wave device reduces the bandwidth of closed-loop system, but can also reduce the capability of fast response of system simultaneously.In addition it can also be instructed by input
Although the scheme of filtering, the program will not influence the stability of closed-loop system, but the deformation of instruction track and time can be brought stagnant
Problem afterwards.
Summary of the invention
Based on this, it is necessary to be directed to above-mentioned mechanical resonant problem, instruction plan frequency suppression can be changed in real time by providing one kind
The dynamic method and system of damping.
A kind of real-time method for changing instruction plan frequency and inhibiting vibration, comprising:
Acquisition instruction planning；
Corresponding frequency content is estimated according to instruction planning；
According to the time shaft of the resonance frequency of frequency content and system adaptive adjustment instruction planning, with change frequency at
Divide and avoids resonance frequency.
Corresponding frequency content is estimated according to instruction planning in one of the embodiments, comprising:
Instruction is estimated using adaptive frequency estimator device and plans corresponding frequency content.
Instruction is estimated using adaptive frequency estimator device in one of the embodiments, and plans corresponding frequency content, packet
It includes:
It calculates and is planned with instruction according to the convergence rate of adaptive frequency estimator device, damping ratio, state and instruction planning
Corresponding frequency content.
The formula of frequency content corresponding with instruction planning is calculated in one of the embodiments, are as follows:
Wherein, y (t) is the instruction planning comprising resonance frequency of input, and θ is frequency content to be estimated, and γ is estimation
The convergence rate of device, x indicate the state of estimator.
In one of the embodiments, according to the adaptive adjustment instruction planning of resonance frequency of frequency content and system
Time shaft, comprising:
Whether the absolute value of the difference between determination frequency ingredient and the resonance frequency of system meets preset threshold；
If satisfied, the time shaft that then adjustment instruction is planned.
The time shaft of adjustment instruction planning in one of the embodiments, comprising:
According to the difference determine instruction between frequency content and the resonance frequency of system plan corresponding final frequency at
Point；
Corresponding final frequency content and frequency and the corresponding relationship of time are planned according to instruction, to instruction planning
Time shaft zooms in and out.
A kind of real-time system for changing instruction plan frequency and inhibiting vibration, comprising:
Module is obtained, is planned for acquisition instruction；
Adaptive frequency estimator device, for estimating corresponding frequency content according to instruction planning；
Module is adjusted, the time for the adaptive adjustment instruction planning of resonance frequency according to frequency content and system
Axis, to change frequency content and avoid resonance frequency.
Adaptive frequency estimator implement body is used in one of the embodiments:
Frequency content corresponding with instruction planning is calculated according to convergence rate, damping ratio, state and instruction planning.
Module is adjusted in one of the embodiments, further include:
Judging unit, it is pre- whether the absolute value for the difference between determination frequency ingredient and the resonance frequency of system meets
If threshold value；
Adjustment unit, for the time shaft that adjustment instruction is planned when meeting preset threshold.
Adjustment unit is specifically used in one of the embodiments:
According to the difference determine instruction between frequency content and the resonance frequency of system plan corresponding final frequency at
Point；
Corresponding final frequency content and frequency and the corresponding relationship of time are planned according to instruction, to instruction planning
Time shaft zooms in and out.
The above-mentioned real-time method and system for changing instruction plan frequency and inhibiting vibration, in the finger that acquisition is filtered system
After enabling planning, instruction is estimated using adaptive frequency estimator device and plans corresponding frequency content, thus according to the frequency content
And the time shaft of the adaptive adjustment instruction planning of resonance frequency of system, to change the frequency content of instruction planning, to keep away
Resonance frequency is opened, system is filtered with realizing and inhibits to vibrate, and the track profile of instruction planning will not be generated any
Deformation, further reduced the resonance amplitude and convergence time of system.
Detailed description of the invention
Fig. 1 is the flow diagram for changing the method that instruction plan frequency inhibits vibration in one embodiment in real time；
Fig. 2 is the flow diagram for changing the method that instruction plan frequency inhibits vibration in another embodiment in real time；
Fig. 3 is the frequency-domain model schematic diagram of system in one embodiment；
Fig. 4 is that schematic diagram is planned in the instruction inputted in one embodiment；
Fig. 5 is the frequency content schematic diagram estimated by adaptive frequency estimator device to the instruction planning of Fig. 4；
Fig. 6 is the time frequency analysis result schematic diagram of system in one embodiment；
Fig. 7 is the comparing result schematic diagram of system response in one embodiment；
Fig. 8 is the schematic illustration zoomed in and out in one embodiment to instruction planning；
Fig. 9 is the structural schematic diagram for changing the system that instruction plan frequency inhibits vibration in one embodiment in real time；
Figure 10 is the realization block diagram of adaptive frequency estimator device in Fig. 9；
Figure 11 is the structural schematic diagram that module is adjusted in Fig. 9.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
The embodiment of the present application provides a kind of method for changing instruction plan frequency in real time and inhibiting vibration, as shown in Figure 1, packet
Include following steps:
Step S102, acquisition instruction planning.
Wherein, the path instructions that instruction planning refers to input system to be filtered to system.Since system is usually position
Ring closed loop is set, therefore the instruction of input system is usually position command.
Step S104 estimates corresponding frequency content according to instruction planning.
In the present embodiment, can specifically be estimated using adaptive frequency estimator device instruction plan corresponding frequency at
Point.Since any signal all has frequency, even square wave, substantially and there are many synthesis of the sine wave of different frequency
, therefore, frequency content is exactly each frequency values for including in instruction planning.
Step S106, according to the time shaft of the resonance frequency of frequency content and system adaptive adjustment instruction planning, with
Change frequency content and avoids resonance frequency.
Specifically, planning corresponding frequency content and known system by comparing the instruction that adaptive frequency estimator device is estimated
The degree of closeness of the resonance frequency of system, if the two is closer to, the time shaft of adaptive adjustment instruction planning, to change frequency
Ingredient is filtered realization to system and inhibits vibration to avoid resonance frequency.
The above-mentioned real-time method for changing instruction plan frequency and inhibiting vibration, plans the instruction that system is filtered obtaining
Afterwards, instruction is estimated using adaptive frequency estimator device and plans corresponding frequency content, to according to the frequency content and be
The time shaft of the adaptive adjustment instruction planning of the resonance frequency of system, to change the frequency content of instruction planning, to avoid resonance
Frequency, realization are filtered system and inhibit to vibrate, and will not generate any deformation to the track profile of instruction planning, into one
Step reduces the resonance amplitude and convergence time of system.
In one embodiment, instruction is estimated using adaptive frequency estimator device and plans corresponding frequency content, it is specific to wrap
It includes: being calculated according to the convergence rate of adaptive frequency estimator device, damping ratio, state and instruction planning corresponding with instruction planning
Frequency content.
Wherein, adaptive frequency estimator device is the second order notch filter with nonlinear differential equation renewal frequency
Device, expression formula are as follows:
Then calculate the formula of frequency content corresponding with instruction planning are as follows:
Wherein, y (t) is the instruction planning comprising resonance frequency of input, and θ is frequency content to be estimated, and ξ is estimator
Damping ratio, γ be estimator convergence rate, x indicate estimator quantity of state.
In one embodiment, as shown in Fig. 2, according to the adaptive adjustment instruction of resonance frequency of frequency content and system
The time shaft of planning, includes the following steps:
Whether the absolute value of step S202, the difference between determination frequency ingredient and the resonance frequency of system meet default threshold
Value.If satisfied, thening follow the steps S204, the no S206 that thens follow the steps is not processed.
Step S204, the time shaft of adjustment instruction planning.
In the present embodiment, if the absolute value of the frequency content in instruction planning and the difference between the resonance frequency of system
Meet preset threshold, is then planned according to the difference determine instruction between the resonance frequency of frequency content and system in instruction planning
Corresponding final frequency content is planned that corresponding final frequency content and frequency are corresponding with the time according to instruction and is closed
System zooms in and out the time shaft of instruction planning.
Specifically, can be with the performance of frame of reference, i.e. the frequency range of signal that can track of system.Assuming that a certain machine
The closed-loop bandwidth of electric system is 50Hz, that is to say, that this system can be tracked within the scope of 0~50Hz with acceptable error
Sinusoidal signal.But Mechatronic Systems generally has resonance in end, it is assumed that its resonance frequency is 30Hz, then carries out to the system
When filtering processing, the frequency content in instruction planning inputted to it should avoid 30Hz.Therefore, it first has in decision instruction planning
Frequency content and system resonance frequency between the absolute value of difference whether meet preset threshold, which can be
The number of one very little can specifically be set according to the performance of system.If it is default to meet this for the absolute value of difference between the two
Threshold value then shows that the resonance frequency of frequency content and system in instruction planning is closer to, to need in instruction planning
Frequency content be adjusted.
Or the above example is illustrated, it is assumed that after the result of adaptive frequency estimator device estimation is stablized, confirmation instruction rule
Draw in frequency content near the resonance frequency of system, i.e. near 30Hz, then need to instruction planning in frequency content into
Row is adjusted to avoid the resonance frequency of system.Its it is specific it is contemplated that the primary frequency ingredient in instruction planning is become < 20hz or
The signal of person>40hz and<50hz, adjustment can be realized by changing the time shaft of instruction planning.
Therefore, it when the frequency content in the bandwidth of known system, resonance frequency and instruction planning, that is, can determine final
The size for the frequency content in instruction planning for needing to adjust.Again due to the corresponding relationship between frequency and time, i.e., frequency with
It is in inverse ratio between time, so as to be contracted according to this corresponding relationship and frequency to be adjusted to the time shaft of instruction planning
It puts, to achieve the purpose that adjustment instruction plans frequency component.
Step S206, is not processed.
In the present embodiment, if the absolute value of the frequency content in instruction planning and the difference between the resonance frequency of system
Meet preset threshold, then by the time shaft of above-mentioned steps adjustment instruction planning.Otherwise, without any processing.
The principle of the application is further illustrated below by way of a specific embodiment, it is assumed that the closed loop model of system is one
A system for having 30Hz resonance frequency, transmission function can be stated are as follows:
Wherein, F (s) is that the transmission function after Laplace transform is carried out to input signal, and s is complex variable, ωnIndicate system
The resonance frequency of system, ζ indicate the damping ratio of system.
The frequency domain response characteristic of system is obtained by the method for frequency domain identification, as shown in Figure 3.Assuming that the instruction planning of input
As shown in figure 4, for verifying the present processes, it is assumed that instruction planning are as follows: be the sinusoidal letter that frequency is 10Hz as t < 1s
Number, when t >=1s is the sinusoidal signal that frequency is 30Hz.Then instruction planning is carried out by adaptive frequency estimator device real-time
The frequency content of identification is as shown in Figure 5.
By carrying out time frequency analysis to it as it can be seen that as shown in fig. 6, when the result of adaptive frequency estimator device estimation is stablized
Afterwards, the frequency content of confirmation instruction planning is near the resonance frequency (30Hz) of system, therefore, the time of scaling instruction planning
Axis makes it be scaled the sinusoidal signal of 20Hz, as shown in Figure 7.
Wherein, for the principle of scaling instruction planning as shown in figure 8, original signal is as shown in left side in figure, its points are solid
Fixed, the time interval of adjacent two o'clock is 0.1s, i.e., original signal is the sinusoidal signal that frequency is 1Hz, by adjusting time shaft
Original signal is zoomed in and out, i.e., this interval is changed to 0.4s, so that this signal becomes the sinusoidal letter of 0.25Hz from 1Hz
Number., will be so that frequency values be lower by the elongation to time shaft, and frequency is lower, system follows the error of this signal smaller.But
Frequency values are too low, and it is too long to will cause run duration.The frequency that therefore, it is necessary to be planned according to the comprehensive performance of system come adjustment instruction
Rate to avoid the resonance frequency of system, and will not generate any deformation to the track profile of instruction planning, to realize to system
It is filtered and inhibits to vibrate.
It should be understood that although each step in the flow chart of Fig. 1, Fig. 2 is successively shown according to the instruction of arrow,
It is these steps is not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
There is no stringent sequences to limit for rapid execution, these steps can execute in other order.Moreover, in Fig. 1, Fig. 2 extremely
Few a part of step may include that perhaps these sub-steps of multiple stages or stage are not necessarily same to multiple sub-steps
Moment executes completion, but can execute at different times, and the execution sequence in these sub-steps or stage is also not necessarily
It successively carries out, but in turn or can be handed over at least part of the sub-step or stage of other steps or other steps
Alternately execute.
The embodiment of the present application also provides a kind of systems for changing instruction plan frequency in real time and inhibiting vibration, as shown in figure 9,
The system includes obtaining module 901, adaptive frequency estimator device 902 and adjustment module 903, in which:
Module 901 is obtained, is planned for acquisition instruction；
Adaptive frequency estimator device 902, for estimating corresponding frequency content according to instruction planning；
Adjust module 903, for the adaptive adjustment instruction planning of resonance frequency according to frequency content and system when
Between axis, to change frequency content and avoid resonance frequency.
In one embodiment, the realization block diagram of adaptive frequency estimator device 902 is as shown in Figure 10, which estimates
Gauge 902 is specifically used for: calculating frequency corresponding with instruction planning according to convergence rate, damping ratio, state and instruction planning
Ingredient.
Wherein, adaptive frequency estimator device is the second order notch filter with nonlinear differential equation renewal frequency
Device, as shown in Figure 10, expression formula are as follows:
Then calculate the formula of frequency content corresponding with instruction planning are as follows:
Wherein, y (t) is the instruction planning comprising resonance frequency of input, and θ is frequency content to be estimated, and ξ is estimator
Damping ratio, γ be estimator convergence rate, x indicate estimator quantity of state.
In one embodiment, as shown in figure 11, adjustment module 903 can specifically include judging unit 9032 and adjustment
Unit 9034, wherein judging unit 9032, the absolute value for the difference between determination frequency ingredient and the resonance frequency of system
Whether preset threshold is met；Adjustment unit 9034 is then used for the time shaft that adjustment instruction is planned when meeting preset threshold.
In one embodiment, adjustment unit 9034 is specifically used for: according between frequency content and the resonance frequency of system
Difference determine instruction plan corresponding final frequency content；Corresponding final frequency content and frequency are planned according to instruction
The corresponding relationship of rate and time zooms in and out the time shaft of instruction planning.
The specific restriction for the system vibrated is inhibited to may refer to above for reality about the real-time instruction plan frequency that changes
When change instruction plan frequency inhibit vibration method restriction, details are not described herein.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of method for changing instruction plan frequency in real time and inhibiting vibration, which is characterized in that the described method includes:
Acquisition instruction planning；
Corresponding frequency content is estimated according to described instruction planning；
The time shaft of described instruction planning is adjusted, adaptively according to the resonance frequency of the frequency content and system to change
It states frequency content and avoids the resonance frequency.
2. the method according to claim 1, wherein it is described according to described instruction planning estimate corresponding frequency at
Point, comprising:
Described instruction is estimated using adaptive frequency estimator device and plans corresponding frequency content.
3. according to the method described in claim 2, it is characterized in that, described estimate described instruction using adaptive frequency estimator device
Plan corresponding frequency content, comprising:
Calculating and described instruction are planned according to the convergence rate of adaptive frequency estimator device, damping ratio, state and described instruction
Plan corresponding frequency content.
4. according to the method described in claim 3, it is characterized in that, calculating the public affairs for planning corresponding frequency content with described instruction
Formula are as follows:
Wherein, y (t) is the instruction planning comprising resonance frequency of input, and θ is frequency content to be estimated, and γ is the estimation
The convergence rate of device, x indicate the state of the estimator.
5. the method according to claim 1, wherein described according to the resonance of the frequency content and system frequency
Rate adaptively adjusts the time shaft of described instruction planning, comprising:
Judge whether the absolute value of the difference between the frequency content and the resonance frequency of the system meets preset threshold；
If satisfied, then adjusting the time shaft of described instruction planning.
6. according to the method described in claim 5, it is characterized in that, the time shaft of the adjustment described instruction planning, comprising:
Determine that described instruction planning is corresponding final according to the difference between the frequency content and the resonance frequency of the system
Frequency content；
The corresponding relationship that corresponding final frequency content and the frequency and time are planned according to described instruction, to the finger
The time shaft of planning is enabled to zoom in and out.
7. a kind of system for changing instruction plan frequency in real time and inhibiting vibration characterized by comprising
Module is obtained, is planned for acquisition instruction；
Adaptive frequency estimator device, for estimating corresponding frequency content according to described instruction planning；
Adjust module, for according to the resonance frequency of the frequency content and system adaptively adjust described instruction planning when
Between axis, to change the frequency content and avoid the resonance frequency.
8. system according to claim 7, which is characterized in that the adaptive frequency estimator implement body is used for:
Frequency content corresponding with described instruction planning is calculated according to the planning of convergence rate, damping ratio, state and described instruction.
9. system according to claim 7, which is characterized in that the adjustment module further include:
Whether judging unit, the absolute value for judging the difference between the frequency content and the resonance frequency of the system are full
Sufficient preset threshold；
Adjustment unit, for adjusting the time shaft of described instruction planning when meeting preset threshold.
10. system according to claim 9, which is characterized in that the adjustment unit is specifically used for:
Determine that described instruction planning is corresponding final according to the difference between the frequency content and the resonance frequency of the system
Frequency content；
The corresponding relationship that corresponding final frequency content and the frequency and time are planned according to described instruction, to the finger
The time shaft of planning is enabled to zoom in and out.
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