摘  要：带有弹性负载的工业伺服系统在采用较高增益时经常产生机械谐振现象。传统陷波器方法在抑制阻尼较高的弹性负载谐振时常出现陷波频率检测不准确的问题，该问题的成因是高阻尼下系统谐振频率与实际振荡频率的差异。通过在速度反馈环路中加入一个二阶低通滤波器，并依据自调整规则和傅里叶变换结果对其进行调节，可以有效减小这种差异。实验结果表明改进的方法谐振频率检测准确，加入在此基础上设计的陷波滤波器之后，速度稳态与动态过程中由弹性负载产生的谐振现象得以有效抑制。系统增益与带宽得以显著提高。
关键词：工业伺服；机械谐振；高阻尼；陷波器

Abstract:  Resonances often occur as a result of high controller gains in industrial systems with torsional connected loads. Traditional adaptive notch filter method often fails because of inappropriate notch frequency dealing with high damping resonances. The main cause of this problem is the difference between the resonance frequency and the oscillation frequency. The proposed method effectively lowers the difference by adding a self-tuning low-pass filter in the speed feedback path, whose corner frequency is determined by FFT results and several self-tuning rules. Experiment results show that the frequency detection is accurate. Resonances during the speed steady states and dynamics are successfully reduced. Controller gain and the system performance are enhanced.  
Key words:  industrial servo; resonance; high damping; notch filter