Inertia identification method, system and storage medium based on velocity interpolation

Abstract

The invention belongs to the technical field of inertia identification, and discloses an inertia identification method, system and storage medium based on speed interpolation, and uses different improved MRAS inertia identification algorithms for inertia identification based on different input speed waveforms. Determine whether the input speed waveform is a triangle wave or square wave; when the input speed waveform is a triangle wave, select the improved MRAS inertia identification algorithm based on the triangle wave input for MRAS inertia identification; when the input speed waveform is a square wave, select the improved MRAS based on the square wave input. The inertia identification algorithm performs the MRAS inertia identification. The present invention uses triangular wave and square wave as the input speed signal to perform inertia identification, which has the problem of low precision. A targeted and improved MRAS inertia identification algorithm is proposed to improve the accuracy of inertia identification results. Compared with other improved solutions of MRAS, the present invention has the characteristics of less computational burden and more practicality.

Description

technical field [0001] The invention belongs to the technical field of inertia identification, and in particular relates to an inertia identification method, system and storage medium based on velocity interpolation. Background technique [0002] At present, the mechanical parameters of AC servo system include rotational inertia, load torque, friction coefficient, etc., among which rotational inertia is very important for speed loop controller design, torque feedforward, and disturbance observation. Usually, for the actual AC servo system, the value of the moment of inertia is unknown, and some identification algorithms are often used to estimate this value. Common moment of inertia identification algorithms include: direct calculation method, acceleration and deceleration method, Model Reference Adaptive System (MRAS), least squares, state observer, and extended Kalman filter. Dynamic performance is widely used in the field of servo control. [0003] Generally speaking, s...

AI Technical Summary

Problems solved by technology

[0004] Through the above analysis, the existing problems and defects of the prior art are: when square wave and triangular wave signals are input as speed commands, the accuracy of the identification results of the MRAS inertia identification algorithm is not high

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