Vibration suppression method for servo motor and load multistage drive system

A vibration suppression method for a servo motor and a load multistage drive system, comprising following steps:

• step 1:
• measuring vibration frequencies, including measuring vibration frequencies of stages of drive mechanisms offline, comprising a number N of fixed vibration frequencies and one variable vibration frequency;
• and for measurement of the variable vibration frequency, successively stopping a load at different positions, recording load positions and measuring vibration frequencies, and drawing a two-dimensional table according to a relationship between the vibration frequencies and the load positions;
• step 2:
• setting frequency parameters of fixed-parameter vibration suppression filters, including selecting a number N of fixed-parameter vibration suppression filters, wherein frequency parameters of which respectively correspond to the number N of fixed vibration frequencies measured in the step 1;
• and
• step 3:
• setting a frequency parameter of a variable-parameter vibration suppression filter, including selecting a variable-parameter vibration suppression filter;
• during movement, calculating, according to the load positions and the two-dimensional table drawn in the step 1, a vibration frequency of the position by using a linear interpolation method;
• and setting the vibration frequency to a frequency parameter of the variable-parameter vibration suppression filter.