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Electromechanical servo system parameter identification method based on large-inertia friction load

An electromechanical servo system, friction load technology, applied in the field of aerospace servo, can solve the problems of non-linear current signal, large friction force, large inertia, etc., to achieve the effect of improving accuracy and reducing the influence of external interference

Inactive Publication Date: 2018-08-24
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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Problems solved by technology

The load of the servo system in the aerospace field is characterized by large inertia and high friction. The existing hydraulic servo system cannot meet the above requirements
The electrical and mechanical characteristics of the motor and the control method lead to a large degree of nonlinearity in its current signal, and it is impossible to accurately estimate the flux linkage of the permanent magnet. It is necessary to measure the moment of inertia of the motor by mechanical means

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Embodiment Construction

[0027] The invention relates to a parameter identification method of an electromechanical servo system based on a large inertia friction load. First, in the running state of an empty motor, the initial mechanical motion equation is measured off-line by a deceleration method, and is used as a control parameter; then, in the running state of the motor with inertia , through the same deceleration method, the mechanical equation of motion with inertia is determined online, and the initial mechanical equation of motion and the mechanical equation of motion with inertia are used to obtain the motor rotor moment of inertia J and the coefficient of viscous friction B online m ; Wherein, the deceleration method is based on the method of measuring the moment of inertia of the motor through free deceleration without any electrical influence.

[0028] A reference coordinate system fixed with the rotor is used to describe and analyze the dynamic and static performance of the electromechanic...

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Abstract

The invention relates to an electromechanical servo system parameter identification method based on large-inertia friction load. The method is characterized in that, to begin with, under a motor no-load operation state, determining an initial mechanical movement equation offline through a velocity reduction method, and serving the equation as controller parameters; and then, under a motor with-inertia operation state, determining a mechanical movement equation with inertia online through the same velocity reduction method, and calculating motor rotor rotational inertia J and viscous friction coefficient Bm online by utilizing the initial mechanical movement equation and the mechanical movement equation with inertia. The method can realize online identification, that is, the rotational inertia and the viscous friction coefficient of a motor rotor are calculated in real time during the system operation process, and the control strategy is adjusted according to characteristics in different time periods to allow the servo system to have excellent performance.

Description

technical field [0001] The invention relates to a parameter identification method of an electromechanical servo system based on a large inertia friction load, belonging to the field of aerospace servo. Background technique [0002] In the field of aerospace, low-power electromechanical servo systems have gradually replaced hydraulic servo systems, but high-power electromechanical servo systems are still dominated by hydraulic servo systems. The load of the servo system in the aerospace field is characterized by large inertia and high friction. The existing hydraulic servo system cannot meet the above requirements. The electrical and mechanical characteristics of the motor and the control method lead to a large degree of nonlinearity in its current signal, and it is impossible to accurately estimate the flux linkage of the permanent magnet. It is necessary to measure the moment of inertia of the motor by mechanical means. Contents of the invention [0003] (1) Technical pr...

Claims

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Application Information

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IPC IPC(8): H02P21/14H02P21/00
CPCH02P21/0017H02P21/14H02P21/143
Inventor 宋浩闫海媛朱大宾赵国平何雨枫尹业成
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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