A Method for Simultaneous Online Identification of Motor Load Torque and Inertia

Abstract

The invention discloses an online simultaneous identifying method for load torque and inertia of a motor. According to the method, a model reference adaptive control inertia identification model is utilized to realize online identification of rotational inertia; then the rotational inertia acquired through identification is introduced into an extended Kalman filtering load torque identification model in real time as a control variable, so that decoupling identification of the inertia via the load torque can be realized. The method overcomes the defect of the present online parameter identification model for the motor that the online identification error is great due to intercoupling of the load torque and the rotational inertia, and can carry out accurate online identification to the load torque of the motor on the condition that the rotational inertia is unknown or the rotational inertia changes during operation of the motor. The method has the advantages of simple structure and minor calculation quantity, realizes decoupling of the rotational inertia via the online identification result of the load torque of the motor, and improves the practicability of the online parameter identification system.

Description

technical field [0001] The invention relates to the technical field of permanent magnet AC servo motor control, in particular to a method for simultaneous online identification of motor load torque and inertia. Background technique [0002] During the actual operation of the motor, the parameters of the motor will change as the working environment and conditions change. For example, the moment of inertia of the motor and the load torque of the motor will change with the rotation of the motor, the resistance of the stator and rotor of the motor will change with the temperature of the motor, and the inductance of the motor winding will change with the degree of magnetic saturation. Vary and so on. The change of these parameters will affect the control performance of the motor and the correct judgment of the motor state by the control system. [0003] Parameter identification is one of the most effective methods to solve the influence of motor parameter changes, which also ma...

AI Technical Summary

Problems solved by technology

Second, the multi-parameter identification decoupling problem

[0007] This means that when identifying the load torque, there is a prerequisite that the moment of inertia is known and constant, but the load inertia of the motor in actual applications is indeed a variable value that cannot be determined in advance

If the load inertia changes in the actual application, this will inevitably lead to inaccurate load torque values ​​identified by the model

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