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On-line joint servo system parameter identification and controller parameter optimization method

A servo system and parameter identification technology, which is applied in the direction of program control manipulator, manufacturing tools, electrical testing/monitoring, etc., can solve the problems of extremely high requirements for storage space and computing speed, ignorance, and unsuitability for industrial promotion.

Active Publication Date: 2015-03-04
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0003] The current inertia identification methods can be divided into offline inertia identification and online inertia identification. The main methods of offline inertia identification include acceleration and deceleration methods, manual planning methods, and direct calculation methods. The moment of inertia of the motor is identified, the controller does not need human instructions, and the dynamic information of the system is automatically captured online, and the algorithm is more flexible. Currently, the main applications include the least square method, model reference adaptive method, torque observer method, etc. The online inertia identification method of multiplication has extremely high requirements on the storage space and operation speed of the digital processing chip due to its mathematical algorithm itself, so it is not suitable for industrial promotion
Using the model reference adaptive method to identify the moment of inertia for speed loop self-correction control, but the identification process ignores the damping coefficient for the identification of the moment of inertia

Method used

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Embodiment Construction

[0038] In order to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. The flow chart of parameter identification and control parameter optimization is as follows: figure 1 shown.

[0039] first as figure 2 The moment of inertia and damping coefficient are identified as shown, according to the mechanical motion equation of the motor:

[0040] T e - T L = J dω dt + Bω - - - ( 1 )

[0041] Motor torque T e (N m), the motor load torque is T L (N m), the sum of the moment of inertia of the motor rotor and the load J(Kg m 2 ), motor speed ω(r / min)

[0042] Formula (1) is discretized to get:

[0043] ...

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Abstract

The invention provides an on-line joint servo system parameter identification and controller parameter optimization method. The method comprises the following steps: under the condition of unknown load torque, identifying load rotational inertia and damping coefficients online simultaneously based on a discrete model reference adaptive algorithm; and optimizing parameters of a speed controller according to the identified load rotational inertia. According to the technical scheme provided in the invention, rotational inertia and the damping coefficients can be identified online simultaneously, and the parameters of the speed controller are optimized according to the identification results, and dynamic response performance of the speed is improved.

Description

technical field [0001] The invention relates to a method in the field of motion control, in particular to a method for realizing parameter optimization of a speed loop PI controller by using parameter identification technology. Background technique [0002] The load at the end of the manipulator and the configuration change during the operation of the manipulator lead to the time-varying characteristics of the load moment of inertia and damping coefficient of the manipulator joint servo system, which affects the dynamic response performance of the speed, and the damping coefficient affects the load moment of inertia. Identification accuracy requires simultaneous identification of two parameters. The space manipulator has high requirements on the speed dynamic performance of the joint servo system. Therefore, obtaining the precise value of the load moment of inertia and damping coefficient, and optimizing the parameters of the controller online according to the identification...

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Application Information

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IPC IPC(8): G05B23/02
CPCB25J9/1628
Inventor 贾庆轩赵文灿高欣孙汉旭王一帆
Owner BEIJING UNIV OF POSTS & TELECOMM
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