| 基于DDPG的柔性伺服系统级联陷波器设计 |
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| 引用本文： | 钟靖龙,宋宝,,刘永兴,徐必业.基于DDPG的柔性伺服系统级联陷波器设计[J].微电机,2022,0(5):40-44+61. |
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| 作者姓名： | 钟靖龙 宋宝 刘永兴 徐必业 |
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| 作者单位： | (1 华中科技大学机械科学与工程学院,湖北 武汉 430074;2广东拓斯达科技股份有限公司,广东 东莞 523822) |
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| 摘 要： | 针对柔性伺服系统的多频谐振抑制问题，提出一种基于DDPG的级联陷波器参数整定方法。以系统速度环开环bode图及陷波器bode图预处理结果作为训练数据，并以相位裕度作为奖励函数训练神经网络，实现所设计的伺服系统级联陷波器深度及宽度参数优化训练。搭建了三质量柔性伺服系统实验平台，并开展了多频谐振抑制实验，实验结果表明所提出的参数选择方法能够 找到具有最大相位裕度的陷波器参数，并有效地抑制系统多频谐振。
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| 关 键 词： | 柔性伺服系统 级联陷波器 DDPG 多频谐振抑制 相位裕度 |
Deep Deterministic Policy Gradient-based Design of Cascade Notch Filters for Suppressing Mechanical Resonance in Flexible Servo System |
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| ZHONG Jinglong??,SONG Bao ,,LIU Yongxing ,XU Biye.Deep Deterministic Policy Gradient-based Design of Cascade Notch Filters for Suppressing Mechanical Resonance in Flexible Servo System[J].Micromotors,2022,0(5):40-44+61. |
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| Authors: | ZHONG Jinglong?? SONG Bao LIU Yongxing XU Biye |
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| Affiliation: | (1 School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China ；2 Guangdong Topstar Technology Company LimitedDongguan 523822China) |
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| Abstract: | Aiming at suppressing the multi-frequency resonance problem in the flexible servo system, a cascaded notch filter parameter tuning method based on DDPG was proposed in this paper. The neural network to realize the optimized training for depth and width parameters of the designed servo system cascade notch filter were trained with the training data which can obtain by the preprocessing results of the system speed loop open-loop’s bode diagram and the notch filter’s bode diagram. A three-mass flexible servo platform was built to carry out the multi-frequency resonance suppression experiments. The experimental results demonstrated that the proposed parameter selection method can obtain the notch filter parameters with the maximum phase margin and effectively suppress the system’s multi-frequency resonance. |
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| Keywords: | flexible servo system cascade notch filter DDPG multi-frequency resonance suppression phase margin |
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