二维驱动机构的机电一体化谐振问题探讨

谐振是机电一体化的普通现象，致其产生的因素有很多，其中最为常见的是电机与负载之间的力矩传递。谐振的发生不仅会损害本体，还会对安装平台造成不良影响，甚至恶化平台上其他仪器的性能。以二维驱动机构的机电一体化谐振问题为例，通过高频(100kHz)采样伺服电机相电流及角度传感器的信号，分析了电机三相电流和角度传感器的频谱成份，提出采用双反馈控制和notch数字滤波器改变系统的频谱特性，从而消除机械谐振，提高伺服跟踪精度，使之满足工程型号的要求。此方法对解决机电一体化的谐振问题具有重要意义。

Discussion on Mechatronics Resonance of Two-dimensional Driving Mechanism

Resonance is a common phenomenon of mechatronics that is influenced by many factors. The most common one is the transmission of torque between the motor and the load. It not only damages the body, but also adversely affects the installation platform and even deteriorates the performance of other instruments on the platform. Based on the mechatronic resonance problem of two-dimensional drive mechanism, for example, by the high-frequency(100kHz) sampling servo motor phase current and angle sensor signals, the spectral components of the three phase current and angle sensor of the motor is analyzed in this paper, and it is proposed to use dual feedback control and notch digital filter to change the spectrum characteristics of the system. Thereby mechanical resonance is eliminated, and the servo tracking accuracy is improved to meet the requirements of engineering model. This method is of great significance to solve the problem of mechanical and electrical integration of resonance.