vi使用手册.doc

哈尔滨工业大学工程硕士学位论文
Abstract
In AC servo system, transmission shaft and coupling are main transmission
device connecting drive side and load side. But transmission device has elasticity
in real system. The mechanical resonance phenomenon is generated because of
importing of elastic load. Mechanical resonance will influence the control
performance and precision, even make system instability. It will bring the
damage to transmission device in severe case, like wear and breaking-shaft. In
the actual system, transmission backlash is hard to avoid. The existence of
backlash will aggravate the harm of mechanical resonance, and bring the other
severe damage like impact. But the traditional method of suppressing mechanical
resonance cannot suppress the resonance with backlash effectively. Therefore, to
solve the resonance with backlash has important practical significance.
This paper analyzes the mechanical resonance phenomenon at control point
aiming at 2-mass system with elastic load and backlash. The Bode diagram can
be produced by fast identification of resonance characteristic, and this
characteristic can be used to carry out the passive method of suppression. The
paper proposes an effective method to suppress mechanical resonance with
backlash, and this method also can realize the adjusting of shaft-torque at any
certain value.
This paper firstly researches the mechanism of mechanical resonance
without backlash, involving resonance model and the resonance characteristics of
continuous and discrete system. It’s the conclusion that resonance frequency of
continuous system is Anti-Resonance Frequency, and resonance frequency of
discrete system is Natural Torsional Frequency. Further involving the backlash
nonlinear factor, the effect of backlash to resonance characteristic is analyzed;
the negative influence of backlash to original resonance is confirmed. Backlash
is equal to reduce the elastic c