Inertia ratio on-line identifying system and method

A technology of inertia ratio and vector, applied in the field of servo motor control, can solve the problem that the offline inertia ratio identification cannot cope with external inertia changes, etc.

Active Publication Date: 2014-10-29
SHENZHEN INOVANCE TECH
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide an online inertia ratio identification system and method for the above-mentioned problem that the offline inertia ratio identification cannot cope with external inertia changes

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  • Inertia ratio on-line identifying system and method

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[0028] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0029] Such as figure 1 Shown is a schematic diagram of the control of the servo drive. In this servo driver, in order to simplify the calculation, the friction force can be regarded as a linear function related to the speed, so the motion equation of the servo driver driving the servo motor can be described by formula (1) (ω' is the motor rotor acceleration):

[0030] ω ' = - B J ω + 1 J ( T e - ...

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Abstract

The invention provides an inertia ratio on-line identifying system and method. The inertia ratio on-line identifying system comprises a sampling unit, a first computing unit and a second computing unit, wherein the sampling unit is used for collecting rotation speeds and corresponding current of a plurality of servo motors in fixed sampling time when the servo motors are started or reversed; the first computing unit is used for calculating electromagnetic torque according to the current, and subjecting the collected rotation speeds and the calculated electromagnetic torque to iterative computation to obtain an identification vector; the second computing unit is used for calculating an inertia ratio according to the identification vector. According to the inertia ratio on-line identifying system and method, iterative computation of the identification vector from the sampled rotation speeds is performed, and the inertia ratio is calculated according to the identification vector, so that inertia ratio parameters of the servo motors can be obtained without off-line operation, and user's operation is simplified.

Description

technical field [0001] The invention relates to the field of servo motor control, more specifically, to a system and method for on-line identification of inertia ratio. Background technique [0002] In the servo system, the inertia ratio is an important control factor, and it is the basis for establishing the loop model. The inertia ratio is the ratio between the load inertia and the motor inertia. According to the inertia ratio, it can be estimated whether the acceleration and deceleration time of the servo system can meet the equipment process requirements. [0003] At present, the most commonly used inertia ratio identification method is based on offline identification, that is, the acceleration change is obtained through acceleration and deceleration commands, and then the inertia ratio is calculated. Although the above-mentioned off-line inertia ratio identification can obtain a relatively accurate servo inertia ratio, it cannot cope with changes in the external inerti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/14
Inventor 姚虹周兆勇徐飞鹏
Owner SHENZHEN INOVANCE TECH
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