CN109240087B - Method and system for inhibiting vibration by changing command planning frequency in real time - Google Patents
Method and system for inhibiting vibration by changing command planning frequency in real time Download PDFInfo
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Abstract
The application relates to a method and a system for inhibiting vibration by changing a command planning frequency in real time, wherein the method comprises the following steps: obtaining an instruction plan; predicting corresponding frequency components according to the instruction planning; and adaptively adjusting the time axis of the command plan according to the frequency components and the resonant frequency of the system to change the frequency components and avoid the resonant frequency. After the instruction planning for filtering the system is obtained, the self-adaptive frequency estimator is adopted to estimate the frequency component corresponding to the instruction planning, so that the time axis of the instruction planning is self-adaptively adjusted according to the frequency component and the resonant frequency of the system, the frequency component of the instruction planning is changed, the resonant frequency is avoided, the system is filtered and the vibration is suppressed, any deformation of the track outline of the instruction planning is avoided, and the resonant amplitude and the convergence time of the system are further reduced.
Description
Technical Field
The present application relates to the field of automatic control technologies, and in particular, to a method and a system for suppressing vibration by changing a command planning frequency in real time.
Background
With the increasingly wide application of the alternating current servo system, the terminal actuating mechanism is often required to have strong rapid positioning capability in the automatic assembly and machining processes of the industrial production line. However, due to the flexible connection of the end effector, the end effector generates long-term residual vibration after the end of the movement, and is more obvious in the case of high-speed and high-acceleration movement, so that the positioning precision and the speed of the end effector are greatly reduced, and the stability of a control system is even affected.
In response to the above-mentioned mechanical resonance problem, conventional solutions reduce the bandwidth of the closed-loop system by adding a notch filter in the feedback control loop, but also reduce the fast response capability of the system. In addition, the scheme of filtering through the input command can also be used, and although the scheme does not affect the stability of a closed-loop system, the scheme can cause the problems of command trajectory deformation and time lag.
Disclosure of Invention
In view of the above, it is necessary to provide a method and system for suppressing vibration by changing the command planning frequency in real time in order to solve the above-mentioned mechanical resonance problem.
A method of suppressing vibration by changing a commanded planned frequency in real time, comprising:
obtaining an instruction plan;
predicting corresponding frequency components according to the instruction planning;
and adaptively adjusting the time axis of the command plan according to the frequency components and the resonant frequency of the system to change the frequency components and avoid the resonant frequency.
In one embodiment, estimating the corresponding frequency component according to the command plan includes:
and adopting a self-adaptive frequency estimator to estimate the corresponding frequency components of the command planning.
In one embodiment, estimating the corresponding frequency component of the command plan by using the adaptive frequency estimator comprises:
and calculating a frequency component corresponding to the command plan according to the convergence speed, the damping ratio, the state and the command plan of the self-adaptive frequency estimator.
In one embodiment, the formula for calculating the frequency components corresponding to the command plan is:
where y (t) is an input command plan including a resonant frequency, θ is a frequency component to be estimated, γ is a convergence speed of the estimator, and x represents a state of the estimator.
In one embodiment, adaptively adjusting a time axis of an instruction plan according to a frequency component and a resonant frequency of a system includes:
judging whether the absolute value of the difference between the frequency component and the resonant frequency of the system meets a preset threshold value or not;
and if so, adjusting the time axis of the command plan.
In one embodiment, adjusting the timeline of the instruction plan includes:
determining a final frequency component corresponding to the command plan according to a difference value between the frequency component and the resonant frequency of the system;
and zooming the time axis of the instruction plan according to the final frequency component corresponding to the instruction plan and the corresponding relation between the frequency and the time.
A system for suppressing vibration by changing a commanded planned frequency in real time, comprising:
an acquisition module for acquiring an instruction plan;
the self-adaptive frequency estimator is used for predicting corresponding frequency components according to the instruction planning;
and the adjusting module is used for adaptively adjusting the time axis of the instruction planning according to the frequency components and the resonant frequency of the system so as to change the frequency components and avoid the resonant frequency.
In one embodiment, the adaptive frequency estimator is specifically configured to:
and calculating a frequency component corresponding to the command plan according to the convergence speed, the damping ratio, the state and the command plan.
In one embodiment, the adjusting module further comprises:
a judging unit for judging whether an absolute value of a difference between the frequency component and a resonant frequency of the system satisfies a preset threshold;
and the adjusting unit is used for adjusting the time axis of the instruction plan when the preset threshold value is met.
In one embodiment, the adjusting unit is specifically configured to:
determining a final frequency component corresponding to the command plan according to a difference value between the frequency component and the resonant frequency of the system;
and zooming the time axis of the instruction plan according to the final frequency component corresponding to the instruction plan and the corresponding relation between the frequency and the time.
According to the method and the system for inhibiting the vibration by changing the instruction planning frequency in real time, after the instruction planning for filtering the system is obtained, the self-adaptive frequency estimator is adopted to estimate the frequency component corresponding to the instruction planning, so that the time axis of the instruction planning is self-adaptively adjusted according to the frequency component and the resonant frequency of the system, the frequency component of the instruction planning is changed, the resonant frequency is avoided, the system is filtered, the vibration is inhibited, the track contour of the instruction planning cannot be deformed, and the resonant amplitude and the convergence time of the system are further reduced.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for suppressing vibration by changing a command planning frequency in real time according to an embodiment;
FIG. 2 is a schematic flow chart illustrating a method for suppressing vibration by changing the command planning frequency in real time according to another embodiment;
FIG. 3 is a schematic diagram of a frequency domain model of a system in one embodiment;
FIG. 4 is a schematic diagram of an embodiment of an input instruction plan;
FIG. 5 is a schematic diagram of frequency content estimated by the adaptive frequency estimator for the instruction plan of FIG. 4;
FIG. 6 is a diagram illustrating a time-frequency analysis result of the system in one embodiment;
FIG. 7 is a graph illustrating a comparison of system responses in one embodiment;
FIG. 8 is a schematic diagram illustrating scaling of an instruction plan in one embodiment;
FIG. 9 is a schematic diagram of a system for suppressing vibration by changing the commanded programmed frequency in real time, in accordance with an embodiment;
FIG. 10 is a block diagram of an implementation of the adaptive frequency estimator of FIG. 9;
fig. 11 is a schematic structural diagram of the adjusting module in fig. 9.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application provides a method for inhibiting vibration by changing command planning frequency in real time, which comprises the following steps as shown in fig. 1:
step S102, obtaining an instruction plan.
The command planning refers to a track command which is input into the system to filter the system. Since the system is typically a closed loop position loop, the commands input to the system are typically position commands.
And step S104, estimating the corresponding frequency components according to the command planning.
In this embodiment, an adaptive frequency estimator may be specifically used to estimate the frequency components corresponding to the command planning. Since any signal has a frequency, even a square wave, which is essentially a composite of sine waves of many different frequencies, the frequency components are the individual frequency values contained in the command plan.
And step S106, adaptively adjusting the time axis of the command plan according to the frequency components and the resonant frequency of the system so as to change the frequency components and avoid the resonant frequency.
Specifically, the approach degree of the frequency component corresponding to the command plan estimated by the adaptive frequency estimator is compared with the known resonant frequency of the system, and if the frequency component is closer to the known resonant frequency, the time axis of the command plan is adaptively adjusted to change the frequency component so as to avoid the resonant frequency, and the system is filtered to suppress vibration.
According to the method for inhibiting vibration by changing the instruction planning frequency in real time, after the instruction planning for filtering the system is obtained, the self-adaptive frequency estimator is adopted to estimate the frequency component corresponding to the instruction planning, so that the time axis of the instruction planning is self-adaptively adjusted according to the frequency component and the resonant frequency of the system, the frequency component of the instruction planning is changed, the resonant frequency is avoided, the system is filtered, vibration is inhibited, any deformation is not generated on the track contour of the instruction planning, and the resonant amplitude and the convergence time of the system are further reduced.
In one embodiment, the estimating of the frequency component corresponding to the command plan by using the adaptive frequency estimator specifically includes: and calculating a frequency component corresponding to the command plan according to the convergence speed, the damping ratio, the state and the command plan of the self-adaptive frequency estimator.
The adaptive frequency estimator is a quadratic notch filter with a nonlinear differential equation updating frequency, and the expression is as follows:
the formula for calculating the frequency component corresponding to the command plan is:
where y (t) is an input command plan containing a resonance frequency, theta is a frequency component to be estimated, ξ is a damping ratio of the estimator, gamma is a convergence speed of the estimator, and x represents a state quantity of the estimator.
In one embodiment, as shown in fig. 2, the adaptive adjustment of the time axis of the command plan according to the frequency components and the resonant frequency of the system includes the following steps:
step S202, judging whether the absolute value of the difference value between the frequency component and the resonant frequency of the system meets a preset threshold value. If yes, go to step S204, otherwise go to step S206 without processing.
Step S204, adjusting the time axis of the command plan.
In this embodiment, if the absolute value of the difference between the frequency component in the instruction plan and the resonant frequency of the system satisfies the preset threshold, the final frequency component corresponding to the instruction plan is determined according to the difference between the frequency component in the instruction plan and the resonant frequency of the system, and the time axis of the instruction plan is scaled according to the final frequency component corresponding to the instruction plan and the correspondence between the frequency and the time.
In particular, reference may be made to the performance of the system, i.e. the frequency range of the signal that the system is able to track. Suppose that the closed loop bandwidth of an electromechanical system is 50Hz, that is, the system can track a sinusoidal signal in the range of 0-50 Hz with an acceptable error. However, electromechanical systems generally have resonance at the end, and if the resonance frequency is 30Hz, the frequency component in the command plan input to the electromechanical systems should be kept away from 30Hz when the electromechanical systems are subjected to filtering processing. Therefore, it is first determined whether the absolute value of the difference between the frequency component in the command plan and the resonant frequency of the system satisfies a preset threshold, which may be a very small number, and may be specifically set according to the performance of the system. If the absolute value of the difference between the two values meets the preset threshold, it is indicated that the frequency component in the instruction plan is closer to the resonant frequency of the system, so that the frequency component in the instruction plan needs to be adjusted.
Also, as explained in the above example, assuming that the frequency component in the command plan is confirmed to be near the resonant frequency of the system, i.e., near 30Hz after the estimation result of the adaptive frequency estimator is stable, the frequency component in the command plan needs to be adjusted to avoid the resonant frequency of the system. It may be specifically considered to change the original frequency component in the instruction plan to a <20hz or a >40hz and <50hz signal, and the adjustment may be implemented by changing the time axis of the instruction plan.
Therefore, when the bandwidth, the resonant frequency, and the frequency component in the command plan of the system are known, the size of the frequency component in the command plan that needs to be adjusted finally can be determined. And because the corresponding relation between the frequency and the time, namely the frequency and the time are in inverse proportion, the time shaft of the command plan can be scaled according to the corresponding relation and the frequency to be adjusted, so as to achieve the purpose of adjusting the frequency components in the command plan.
In step S206, no processing is performed.
In this embodiment, if the absolute value of the difference between the frequency component in the command plan and the resonant frequency of the system satisfies the preset threshold, the time axis of the command plan is adjusted according to the above steps. Otherwise, no processing is done.
The principles of the present application are further illustrated below by a specific example, assuming that the closed loop model of the system is a system with a resonant frequency of 30Hz, the transfer function can be expressed as:
wherein F(s) is a transfer function after Laplace transform of the input signal, s is a complex variable, ωnRepresents the resonant frequency of the system and ζ represents the damping ratio of the system.
The frequency domain response characteristic of the system is obtained by the frequency domain identification method, as shown in fig. 3. Assuming that the input instruction plan is as shown in fig. 4, to verify the method of the present application, it is assumed that the instruction plan is: when t <1s, it is a sinusoidal signal with a frequency of 10Hz, and when t > is 1s, it is a sinusoidal signal with a frequency of 30 Hz. The frequency components of the command plan identified in real time by the adaptive frequency estimator are shown in fig. 5.
As can be seen from the time-frequency analysis, when the result of the estimation by the adaptive frequency estimator is stable, as shown in fig. 6, it is confirmed that the frequency component of the command plan is around the resonance frequency (30Hz) of the system, and therefore, the time axis of the command plan is scaled to a 20Hz sinusoidal signal, as shown in fig. 7.
The principle of scaling instruction planning is shown in fig. 8, the original signal is shown on the left side in the figure, the number of points of the original signal is fixed, the time interval between two adjacent points is 0.1s, that is, the original signal is a sinusoidal signal with the frequency of 1Hz, and the original signal is scaled by adjusting the time axis, that is, the interval is changed to 0.4s, so that the signal is changed from 1Hz to a sinusoidal signal with the frequency of 0.25 Hz. By stretching the time axis, the frequency value will be made lower, and the lower the frequency, the smaller the error the system follows the signal. However, too low a frequency will result in too long exercise time. Therefore, the frequency of the command plan needs to be adjusted according to the comprehensive performance of the system, so as to avoid the resonant frequency of the system, and not generate any deformation to the trajectory profile of the command plan, so as to filter the system and suppress the vibration.
It should be understood that, although the steps in the flowcharts of fig. 1 and 2 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1 and 2 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
The embodiment of the present application further provides a system for suppressing vibration by changing a command planning frequency in real time, as shown in fig. 9, the system includes an obtaining module 901, an adaptive frequency estimator 902, and an adjusting module 903, where:
an obtaining module 901, configured to obtain an instruction plan;
an adaptive frequency estimator 902 for estimating corresponding frequency components according to the command plan;
and an adjusting module 903, configured to adaptively adjust a time axis of the instruction plan according to the frequency component and the resonant frequency of the system, so as to change the frequency component and avoid the resonant frequency.
In one embodiment, a block diagram of an implementation of an adaptive frequency estimator 902 is shown in fig. 10, where the adaptive frequency estimator 902 is specifically configured to: and calculating a frequency component corresponding to the command plan according to the convergence speed, the damping ratio, the state and the command plan.
The adaptive frequency estimator is a quadratic notch filter with a nonlinear differential equation update frequency, as shown in fig. 10, and its expression is:
the formula for calculating the frequency component corresponding to the command plan is:
where y (t) is an input command plan containing a resonance frequency, theta is a frequency component to be estimated, ξ is a damping ratio of the estimator, gamma is a convergence speed of the estimator, and x represents a state quantity of the estimator.
In an embodiment, as shown in fig. 11, the adjusting module 903 may specifically include a determining unit 9032 and an adjusting unit 9034, where the determining unit 9032 is configured to determine whether an absolute value of a difference between the frequency component and the resonant frequency of the system meets a preset threshold; the adjusting unit 9034 is configured to adjust the time axis of the instruction plan when the preset threshold is met.
In an embodiment, the adjusting unit 9034 is specifically configured to: determining a final frequency component corresponding to the command plan according to a difference value between the frequency component and the resonant frequency of the system; and zooming the time axis of the instruction plan according to the final frequency component corresponding to the instruction plan and the corresponding relation between the frequency and the time.
For the specific limitation of the system for suppressing vibration by changing the command planning frequency in real time, reference may be made to the above limitation on the method for suppressing vibration by changing the command planning frequency in real time, and details are not repeated here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for suppressing vibration by changing a commanded programmed frequency in real time, the method comprising:
obtaining an instruction plan, wherein the instruction plan refers to an instruction which is input into a system to filter the system, and the system is a closed-loop system;
according to the instruction plan, adopting a self-adaptive frequency estimator to estimate frequency components corresponding to the instruction plan;
adaptively adjusting a time axis of the instruction plan according to the frequency component and a resonant frequency of a system to change the frequency component and avoid the resonant frequency;
the adaptively adjusting the time axis of the instruction plan according to the frequency components and the resonant frequency of the system includes: judging whether the absolute value of the difference between the frequency component and the resonant frequency of the system is smaller than a preset threshold value or not; and if the time is smaller than the preset time, adjusting the time axis of the instruction plan.
2. The method of claim 1, wherein the frequency components are respective frequency values included in a command plan.
3. The method of claim 1, wherein estimating the frequency content corresponding to the command plan using an adaptive frequency estimator comprises:
and calculating a frequency component corresponding to the instruction plan according to the convergence speed, the damping ratio and the state of the self-adaptive frequency estimator and the instruction plan.
4. The method of claim 2, wherein the formula for calculating the frequency components corresponding to the command plan is:
where y (t) is an input command plan including a resonance frequency, θ is a frequency component to be estimated, γ is a convergence speed of the estimator, and x represents a state of the estimator.
5. The method of claim 1, wherein the adjusting the timeline of the instruction plan comprises:
determining a target frequency component corresponding to the instruction plan according to the resonance frequency and the bandwidth of the system, wherein the target frequency component is a signal which avoids the resonance frequency of the system and is within the bandwidth range;
and zooming the time axis of the instruction plan according to the target frequency component corresponding to the instruction plan and the corresponding relation of inverse proportion between the frequency and the time.
6. A system for suppressing vibration by changing a commanded programmed frequency in real time, comprising:
the system comprises an acquisition module, a filtering module and a processing module, wherein the acquisition module is used for acquiring an instruction plan, the instruction plan refers to an instruction which is input into a system to filter the system, and the system is a closed-loop system;
the self-adaptive frequency estimator is used for estimating the frequency component corresponding to the instruction plan by adopting the self-adaptive frequency estimator according to the instruction plan;
the adjusting module is used for adaptively adjusting the time axis of the instruction plan according to the frequency component and the resonant frequency of the system so as to change the frequency component and avoid the resonant frequency;
the adjustment module is specifically configured to: judging whether the absolute value of the difference between the frequency component and the resonant frequency of the system is smaller than a preset threshold value or not; and if the time is smaller than the preset time, adjusting the time axis of the instruction plan.
7. The system of claim 6, wherein the adaptive frequency estimator is specifically configured to:
and calculating a frequency component corresponding to the command plan according to the convergence speed, the damping ratio, the state and the command plan.
8. The system of claim 6, wherein the adjustment module is specifically configured to:
determining a target frequency component corresponding to the instruction plan according to the resonance frequency and the bandwidth of the system, wherein the target frequency component is a signal which avoids the resonance frequency of the system and is within the bandwidth range;
and zooming the time axis of the instruction plan according to the target frequency component corresponding to the instruction plan and the corresponding relation of inverse proportion between the frequency and the time.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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