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Rotational inertia identification method and device of servo system

A moment of inertia, servo system technology, applied in the field of servo motors, can solve the problems of inaccurate calculation and large amount of calculation, and achieve the effect of improving the accuracy of identification, eliminating friction factors and speed factors, and reducing the amount of calculation.

Active Publication Date: 2017-08-01
SUZHOU WEICHUANG ELECTRICAL EQUIP TECH
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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a method and device for identifying the moment of inertia of a servo system, aiming to solve the problem that the calculation of the current moment of inertia identification method is not accurate enough and the amount of calculation is large

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  • Rotational inertia identification method and device of servo system
  • Rotational inertia identification method and device of servo system
  • Rotational inertia identification method and device of servo system

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Embodiment Construction

[0019] 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. In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0020] figure 1 The implementation flowchart of the method for identifying the moment of inertia of the servo system provided by the embodiment of the present invention is described in detail as follows:

[0021] In S101 , the electromagnetic torque when the motor speed approaches zero in the forward direction and the electromagnetic torque when the motor speed approaches zero in the reverse direction are obtained, and the load torque and Coulomb friction torque are calculated. ...

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Abstract

The invention is applicable to the technical field of a servo motor, and provides a rotational inertia identification method and device of a servo system. The method comprises the steps of acquiring an electromagnetic torque when a motor speed positively approximates to zero and an electromagnetic torque when the motor speed reversely approximates to zero, and calculating a load torque and a coulomb friction torque; sampling a speed and a current of the motor between a first initial speed and a second end speed during acceleration of the motor; sampling a speed and a current of the motor between a second initial speed and a second end speed during speed reduction of the motor; and calculating rotational inertia of the servo system according to the speed and the current which are sampled during acceleration of the motor, the speed and the current which are sampled during speed reduction of the motor, the load torque and the coulomb friction torque. By the method, the influence of a friction factor and a speed factor on calculation of the rotational inertia can be eliminated, the identification accuracy of the rotational inertia is improved, moreover, the operational quantity can be reduced, and the identification efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of servo motors, and in particular relates to a method and device for identifying a moment of inertia of a servo system. Background technique [0002] With the development of power electronics technology, motor control technology and the application of rare earth materials, servo motors and servo drives are increasingly used in high-precision control industries such as aerospace, CNC machine tools, and robots. For a servo system, the moment of inertia of the servo system has a very large impact on the system. The moment of inertia of the servo system directly affects the control parameters of the system loop, and an inappropriate value of the moment of inertia will have a great impact on the servo system. Therefore, it is of great significance to accurately identify the moment of inertia of the servo system. [0003] At present, the moment of inertia identification methods of servo system mainly include off...

Claims

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Application Information

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IPC IPC(8): H02P21/16H02P21/20
Inventor 章健骆鹏
Owner SUZHOU WEICHUANG ELECTRICAL EQUIP TECH
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