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含齿隙双电机伺服系统未知参数的两阶段辨识
引用本文:王树波,任雪梅,李斯琪.含齿隙双电机伺服系统未知参数的两阶段辨识[J].控制与决策,2018,33(9):1725-1728.
作者姓名:王树波  任雪梅  李斯琪
作者单位:青岛大学自动化与电气工程学院,山东青岛266071;北京理工大学自动化学院,北京100081,北京理工大学自动化学院,北京100081,北京理工大学自动化学院,北京100081
基金项目:国家自然科学基金项目(61433003).
摘    要:针对含齿隙的双电机伺服系统,提出一种两阶段辨识法辨识双电机系统未知参数以及齿隙非线性环节的死区参数.针对电机转动惯量、等效粘性摩擦系数以及齿隙大小未知的情况,运用Legendre多项式将双电机伺服系统中的齿隙模型分段化,根据最小二乘法辨识双电机伺服系统参数.最后,通过仿真验证两阶段辨识法的有效性,验证结果表明,两阶段辨识法能够较准确地辨识电机参数和齿隙参数.

关 键 词:双电机伺服系统  齿隙  非线性死区  两阶段辨识

Two-stage identification method for dual-motor with unknown parameters
WANG Shu-bo,REN Xue-mei and LI Si-qi.Two-stage identification method for dual-motor with unknown parameters[J].Control and Decision,2018,33(9):1725-1728.
Authors:WANG Shu-bo  REN Xue-mei and LI Si-qi
Affiliation:College of Automation and Electrical Engineering,Qingdao University,Qingdao 266071,China;School of Automation,Beijing Institute of Technology,Beijing 100081,China,School of Automation,Beijing Institute of Technology,Beijing 100081,China and School of Automation,Beijing Institute of Technology,Beijing 100081,China
Abstract:This paper proposes a two-stage identification method for the dual-motor servo system with nonlinear dead-zone and backlash.For the situation that the motor inertia, the equivalent viscous friction coefficient and the size of the backlash are unknown, the Legendre polynomial is utilized to segment the backlash model of dual-motor servo system.The parameters of the dual-motor servo system are identified by using the least square method(LSM). Finally, a simulation experiment is carried out to verify the effectiveness of the proposed two-stage identification method, and the proposed method can accurately identify the motor parameters and backlash parameters.
Keywords:
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