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A Measuring Method of Servo Motor Load Inertia

A technology of load inertia and measurement method, applied in the control of generator, motor generator control, electronic commutation motor control, etc., can solve the problems of slow response speed and low accuracy of load inertia, and achieve the effect of high accuracy

Active Publication Date: 2021-04-23
NANJING ESTUN AUTOMATION CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

On-line measurement is to indirectly identify the load inertia through the observer or model reference adaptive method while the servo motor is working. The load inertia measured by this method has low accuracy and slow response speed.

Method used

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  • A Measuring Method of Servo Motor Load Inertia
  • A Measuring Method of Servo Motor Load Inertia
  • A Measuring Method of Servo Motor Load Inertia

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0032] by figure 1 The control block diagram in is the implementation object, and the motor inertia J M It is 1e-4kgm2. In the factory state of the servo, the proportional coefficient K P is 200, integral coefficient K I for 100, J set =J M . Now measure the load inertia J by the following steps L And adjust the set inertia J set .

[0033] Step 1: Make the natural frequency f of the velocity loop n with J L / J M A two-dimensional table of values.

[0034] This step is carried out before the servo leaves the factory.

[0035] according to figure 1 , build a simulation model in Matlab, and set the parameters J M is 1e-4, K P is 200, K I is 100, J set is 1e-4.

[0036] Set load inertia J L is 0, to perform step response simulation, such as figure 2 shown. Measure the period of vibration in the graph and calculate the natural frequency f n . Use the same method to measure different load inertia J L The natural vibration frequency f at n , and recorded in...

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Abstract

The invention discloses a method for measuring the load inertia of a servo motor. When the motor leaves the factory, by measuring different J L / J M The natural frequency f of the speed loop n , making the natural frequency f of the velocity loop n with J L / J M The two-dimensional table of values; in the actual operation of the motor, through the FFT analysis of the collected speed error and find out the natural frequency f n , and then calculate J by linear interpolation in the two-dimensional table L / J M , so as to calculate the load inertia J L . The method of the present invention calculates the load inertia online, the servo motor does not need to run a specific curve and does not need to inject harmonics; because the vibration frequency caused by the mismatch of inertia parameters is low, it will not be affected by factors such as mechanical resonance; through the actual system test plot the natural frequency f n with J L / J M The two-dimensional table of the value, the accuracy of the relationship between the natural frequency and the load inertia is high.

Description

technical field [0001] The invention relates to a method for measuring the load inertia of a servo motor. Background technique [0002] For a long time, servo motors have played an important role in industrial automation. As a driving actuator, it has fast response, high control precision and small volume. The common servo motor on the market today is a permanent magnet synchronous motor, and its control method adopts a digital vector control method. Since the servo motor can work in torque control mode, speed control mode or position control mode. Therefore, the control generally adopts a three-loop control structure nested with position loop, speed loop and torque loop. Among them, the performance of the speed loop is greatly affected by the load inertia. [0003] If the servo motor works in position control mode or speed control mode, the parameters of load inertia need to be set correctly. As a general-purpose servo product, the load inertia of different devices is ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/14
CPCH02P21/14
Inventor 范仁凯杨凯峰钱巍其他发明人请求不公开姓名
Owner NANJING ESTUN AUTOMATION CO LTD
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