基于转动惯量辨识的交流伺服系统自适应扰动观测器设计

在交流伺服系统中,负载转矩及系统转动惯量的变化所引起的扰动将会影响伺服系统的动态性能。本文提出一种基于转动惯量辨识的自适应扰动观测器,以系统运动方程为算法模型,选取包含转动惯量和负载转矩信息且具有较高独立性的待辨识系数作为可调参数,解决辨识过程中因参数耦合的影响而导致算法收敛速度慢以及辨识初期出现波动的问题;同时对负载变化时的辨识结果波动问题进行分析,通过合理选择参数,很好地抑制了该波动。仿真和实验表明:该扰动观测器能够快速准确地实现对转动惯量和扰动转矩的同时辨识,将该扰动观测器与伺服系统矢量控制相结合,可以有效提高系统的动态性能。

Design of Adaptive Disturbance Observer for AC Servo System with Inertia Identification

The disturbance caused by the variations of load torque and inertia will degrade dynamic performance of AC servo system. Considering the slow identification speed due to parameter coupling and the identification fluctuations caused by load variations, an adaptive disturbance observer is proposed. Through choosing high independent parameters that the information of inertia and load torque are taken into account, the proposed method takes mechanical system equation as the reference model, and reduces the impacts caused by the problems mentioned above. Simulation and experimental results both show that the proposed observer can identify the mechanical parameters quickly and accurately.