Residual vibration suppression of servo system based on time delay filter
                                                                                WU Jie1，ZHANG Hua1,2,3
(1. Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China; 2. College of Energy Engineering, Zhejiang University, Hangzhou 310000, China; 3. Zhejiang DUNAN Artificial Environment Co., Ltd., Hangzhou 310000, China)

Abstract: Aiming at the problem that the positioning end of the servo system is prone to residual vibration, the principle of residual vibration at the positioning end of the servo system and the theory of timedelay filtering were studied. The variation law of the position response curve of the servo system was summarized. A method based on timedelay filtering was presented to residual vibration suppression at the end of servo system. The simulation model was built in Simulink to verify the effect of the delay filter. Then, based on the motion controller and the manipulator, a residual vibration test platform was built to test the natural frequency and damping ratio of the manipulator and the positional response of the filtered positioning end. The results indicate that the method can accurately calculate the damping ratio and other parameters of the servo system. The designed timedelay filter can effectively suppress the residual vibration of the servo system. The effect of vibration suppression is better than that of lowpass filter. At the same time, the response speed and positioning accuracy of the system are improved.

Key words: time delay filter; servo system; residual vibration; damping ratio; natural frequency