交流伺服系统转动惯量的辨识及负载转矩观测方法研究

交流伺服系统的工作性能受电机参数及负载扰动的影响很大，有必要对其转动惯量和负载转矩进行在线辨识和观测，并在辨识转动惯量时考虑负载扰动，并据此调整速度PI调节器参数以改善和提高系统的稳态和动态性能。本文提出一种转动惯量辨识的改进方法，用状态观测器对负载转矩进行实时观测，然后再利用模型参考自适应算法对系统的机械参数即系统转动惯量进行辨识。研究了自适应增益对辨识结果的影响。根据转动惯量的在线辨识量，利用最小峰值响应方法对系统速度PI调节器参数进行了自整定。仿真结果验证了算法的有效性。

The Research of Estimation Algorithm of System Inertia and Load Torque for AC Servo System

The disturbance of the motor parameters and load has a great affection on the operation performance of AC servo system, it is necessary to estimate the inertia and load torque, and the speed PI regulator parameters are tuned on the base of the estimation result to improve the system performances of the stabilization and dynamic response. A improved method about the inertia observer is presented in the paper: the load torque is estimated with the state observer, then system inertia is observed with MRAC (model reference adaptive control), and the affection of the adaptive gain on the estimation result is researched. The speed PI regulator parameters are tuned on the base of estimation result with the value of Mrmin. The algorithm is validated by the simulation results