双惯量弹性负载系统机械谐振机理分析及谐振特征快速辨识

摘要

Mechanism of mechanical resonance in two-mass system with elastic transmission was analyzed. First of all,the quantitative relation between magnitude characteristic of open/closed-loop continuous sys-tem and natural resonant characteristic was contrasted.According to the relation,the resonant mode was confirmed.In discrete system,the effect of controller' s rigidity on oscillation in closed-loop discrete sys-tem was analyzed.The resonant frequency at the state of sustained oscillation in discrete system is NTF. Through the analysis of resonance mechanism,the natural resonant characteristic is important to eliminate resonance.Two methods of fast acquirement of resonant characteristic were discussed based on Pseudo random sequence and Chirp signals.According to the identified frequency,the parameter of notch filter was determined.The results of simulation and experiment demonstrate the accuracy of this method and the suppression effect based on this method.%重点分析带弹性传动装置的双惯量系统机械谐振机理,首先对比连续系统开、闭环幅频特性与固有谐振特征的定量关系,确定谐振模式;进一步针对离散系统,分析控制器刚度对离散闭环系统谐振的影响,确定离散系统持续振荡状态下谐振频率即为NTF频率.通过谐振机理的分析可知固有机械谐振特征对于消除谐振影响显得尤为重要.研究了基于伪随机序列和Chirp信号的两种快速谐振特性获取方法.通过辨识的谐振频率可以确定陷波滤波器参数.仿真及实验结果证实了该谐振特征获取方法的准确性和在此基础上的谐振抑制效果.