Method and device for identifying rotational inertia of servo system

Abstract

The present application discloses a method and device for identifying the moment of inertia of a servo system, and relates to the field of inertia identification. The method includes: determining a disturbance observer, inputting the cross-axis current of the servo system, the first moment of inertia set for the disturbance observer, and the speed of the servo motor in the servo system into the disturbance observer, and obtaining a cross-axis current instruction correction value output by the disturbance observer. The cross-axis current is the current value when the inertia ratio of the servo system is less than a preset threshold. The magnitude relationship between the cross-axis current and the cross-axis current instruction correction value is determined, and the moment of inertia of the servo system is determined based on the magnitude relationship and the first moment of inertia. The present application solution does not require giving specific input instructions to the servo system, nor does it require performing complex calculations. The moment of inertia of the servo system can be identified by using a disturbance observer.

Description

Technical Field

[0001] The present application relates to the technical field of inertia identification, and in particular to a method and device for identifying the rotational inertia of a servo system. Background Art

[0002] In the servo system, the moment of inertia is one of the key factors affecting the performance of the servo system. The change of the moment of inertia will have a great impact on the accuracy, stability, dynamic and static performance of the system. Therefore, it is very important to measure or identify the moment of inertia of the servo system.

[0003] Existing techniques for identifying moment of inertia fall into two main categories: Offline identification algorithms, including acceleration and deceleration testing, involve adjusting the servo system's motor to run in both uniform acceleration and deceleration states. The motor's moment of inertia is then calculated using mathematical formulas based on the acceleration and deceleration speeds and times in each state. This uniform acceleration and deceleration approach is not permitted in many specific applications.

[0004] The other type is the online identification algorithm, including the least squares method, which mainly seeks the best matching object of the objective function by minimizing the sum of squares of the error of the objective function. In this way, the sum of squares of the errors between the obtained data and the ideal value can be minimized. As the identification continues, "data saturation" will occur when the recursive iteration reaches a certain number of times. The old data will affect the new data and then affect the identification results, which will cause inaccurate identification results. Summary of the Invention

[0005] The present application provides a method and apparatus for identifying the rotational inertia of a servo system, which are used to identify the rotational inertia of the servo system so as to reduce the difference between the estimated rotational inertia of the servo system and the actual rotational inertia of the servo system.

[0006] The technical solution is as follows:

[0007] In a first aspect, a method for identifying the moment of inertia of a servo system is provided, wherein a value of an external load of the servo system is less than a preset load threshold, the method comprising:

[0008] Determine the disturbance observer;

[0009] Inputting the quadrature-axis current of the servo system, the first moment of inertia set for the disturbance observer, and the rotational speed of the servo motor into the disturbance observer to obtain a quadrature-axis current command correction value output by the disturbance observer, wherein the quadrature-axis current is a current value of the servo system when the value of the external load is less than the preset load threshold;

[0010] determining a magnitude relationship between the quadrature-axis current and the quadrature-axis current command correction value, wherein the magnitude relationship is used to reflect a relationship between the moment of inertia of the servo system and the first moment of inertia;

[0011] The moment of inertia of the servo system is determined according to the magnitude relationship and the first moment of inertia.

[0012] In the present application, since the value of the external load connected to the servo system is less than a preset load threshold, the quadrature-axis current command value, the first moment of inertia, and the speed of the servo motor can be input into the disturbance observer to obtain a quadrature-axis current command correction value output by the disturbance observer. Subsequently, the magnitude relationship between the quadrature-axis current command correction value and the quadrature-axis current command value is determined. Since the magnitude relationship between the quadrature-axis current command value and the quadrature-axis current command correction value can reflect the relationship between the servo system's moment of inertia and the first moment of inertia, and the first moment of inertia is generally known, after obtaining the magnitude relationship between the quadrature-axis current command value and the quadrature-axis current command correction value, the servo system's moment of inertia can be derived and calculated in combination with the first moment of inertia. This method does not require the servo system to operate under specific input commands, nor does it require complex calculations. The servo system's moment of inertia can be identified using the disturbance observer.

[0013] Optionally, the magnitude relationship between the quadrature-axis current command value and the quadrature-axis current command correction value satisfies the following formula:

[0014] in, represents the quadrature axis current instruction correction value, i q represents the quadrature axis current command value, J n represents the first moment of inertia, and J represents the moment of inertia of the servo system.

[0015] Optionally, the mathematical model corresponding to the disturbance observer is determined by: an inertia parameter, a cutoff frequency of the disturbance observer, a torque coefficient of the disturbance observer, a frequency of the servo motor and the quadrature-axis current command value, and the value of the inertia parameter is the first moment of inertia.

[0016] Optionally, the mathematical model corresponding to the disturbance observer satisfies the following transfer function:

[0017] or

[0018] in, represents the value of the load disturbance torque, g is the cutoff frequency of the disturbance observer, s is the complex frequency domain factor, K Tn is the value of the torque coefficient of the disturbance observer, iq is the quadrature axis current command value, J n is the first moment of inertia, and ω is the rotational speed of the servo motor.

[0019] Optionally, determining a disturbance observer includes:

[0020] Determine the equivalent equation of the single inertia system dynamics equation, which satisfies the following formula: L =(K T i q -Jsω), where T L is the load disturbance torque parameter, K T Represents the torque coefficient parameter;

[0021] The equivalent equation is processed using a first-order low-pass filter to obtain a first transfer function, which is: Among them, T L (s) is the initial load disturbance torque, Obtained by filtering the initial load disturbance torque;

[0022] A mathematical model corresponding to the disturbance observer is determined according to the first transfer function and the equivalent equation.

[0023] Optionally, the ratio of the rotational inertia of the servo system to the rotational inertia of the servo motor is less than or equal to n.

[0024] In a second aspect, a device for identifying the moment of inertia of a servo system is provided, the device comprising:

[0025] A determination module is used to determine a disturbance observer; a calculation module is used to input the quadrature-axis current of the servo system, the first moment of inertia set for the disturbance observer, and the rotational speed of the servo motor into the disturbance observer to obtain a quadrature-axis current command correction value output by the disturbance observer, wherein the quadrature-axis current is the current value of the servo system when the value of the external load is less than a preset load threshold; a first determination module is used to determine the magnitude relationship between the quadrature-axis current and the quadrature-axis current command correction value, the magnitude relationship being used to reflect the relationship between the moment of inertia of the servo system and the first moment of inertia; and a second determination module is used to determine the moment of inertia of the servo system based on the magnitude relationship and the first moment of inertia.

[0026] In a third aspect, a control device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0027] In a fourth aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the instructions are executed, the above method is implemented.

[0028] It can be understood that the beneficial effects of the second, third and fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] Figure 1 This is a flow chart of a method for identifying the moment of inertia of a servo system provided in an embodiment of the present application;

[0031] Figure 2 is a state equation diagram of a disturbance observer provided in an embodiment of the present application;

[0032] Figure 3 is a state equation diagram of a disturbance observer without a differentiator provided in an embodiment of the present application;

[0033] Figure 4 This is an oscilloscope current waveform diagram provided by an embodiment of the present application;

[0034] Figure 5 is a structural diagram of a device for estimating the moment of inertia of a servo system provided in an embodiment of the present application;

[0035] Figure 6 It is a structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0037] It should be understood that the “multiple” mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, words such as “first” and “second” are used to distinguish between identical or similar items with basically the same functions and effects. Those skilled in the art can understand that words such as “first” and “second” do not limit the quantity and execution order, and words such as “first” and “second” do not necessarily limit them to be different.

[0038] The disturbance observer involved in the embodiments of the present application refers to a type of dynamic system that obtains estimated values ​​of state variables based on the actual measured values ​​of the system's external variables (including input variables and output variables).

[0039] Before explaining the embodiments of the present application in detail, the application scenarios of the embodiments of the present application are first explained.

[0040] A servo system primarily consists of a driver and a servo motor, with the servo motor controlled by the driver. The driver's control loop typically consists of a current loop, a speed loop, and a position loop, from the inside out. All three loop regulators are implemented using a PID controller (proportional-integral-differential controller). Generally speaking, after simplifying the system, the speed loop can be tuned as a typical Type II system. When the moment of inertia varies, the transfer function of this Type II system also changes, and so do the corresponding optimal PID parameters. A significant discrepancy between the estimated moment of inertia and the actual moment of inertia can easily lead to system instability or even divergence. Therefore, to optimize system operation, it is necessary to identify the moment of inertia and then rationally select the PID parameters.

[0041] like Figure 1 As shown, an embodiment of the present application provides a method for identifying the rotational inertia of a servo system. The method is applicable to a scenario where the inertia ratio of the access servo system is less than a preset threshold. The method includes:

[0042] Step 101: Determine a disturbance observer.

[0043] It can be understood that the disturbance observer is used to generate a compensation amount for the current instruction, such as the following quadrature-axis current instruction correction value, based on the relevant parameters input to the disturbance observer (such as the quadrature-axis current instruction value, the first moment of inertia set for the disturbance observer, and the speed of the servo motor).

[0044] It is worth noting that the disturbance observer is used to improve the anti-disturbance ability of the servo system. By effectively estimating the interference at the load end, a current command correction value is generated to optimize the current setting of the servo system, thereby suppressing the load disturbance of the system and solving the dynamic speed drop problem of the servo system.

[0045] As an example, the transfer function of the mathematical model corresponding to the disturbance observer is: in, is the load disturbance torque, g is the cutoff frequency of the disturbance observer, K Tn is the torque coefficient in the disturbance observer, i q is the quadrature axis current, J n is the first moment of inertia of the disturbance observer, and s is the complex frequency domain factor.

[0046] Step 102: Input the quadrature-axis current of the servo motor in the servo system, the first moment of inertia set for the disturbance observer, and the speed of the servo motor into the disturbance observer to obtain a quadrature-axis current command correction value output by the disturbance observer, wherein the quadrature-axis current is the quadrature-axis current value when the inertia ratio of the servo system is less than a preset threshold value. When the inertia ratio of the servo system is less than the preset threshold value, the preset threshold value needs to be less than 20, and the servo system needs to operate without an external load or with a very small external load.

[0047] As an example, the quadrature-axis current command value of the servo motor, the first moment of inertia set for the disturbance observer, and the rotational speed of the servo motor can be input by a user, or the quadrature-axis current command value and the rotational speed of the servo motor can be obtained from a measuring device. The measuring device is used to measure the first moment of inertia and the rotational speed of the servo motor.

[0048] Alternatively, the speed of the servo motor can be determined by using relevant parameters for determining the speed. The specific process can be referenced to the implementation in the prior art and will not be described in detail here. For example, the relevant parameter for determining the speed can be the angular velocity of the servo motor.

[0049] Step 103: Calculate the magnitude relationship between the quadrature-axis current command value and the quadrature-axis current command correction value, wherein the magnitude relationship is used to reflect the relationship between the moment of inertia of the servo system and the first moment of inertia.

[0050] As an example, the magnitude relationship between the quadrature-axis current instruction correction value and the quadrature-axis current instruction value satisfies the following formula: in, Indicates the quadrature axis current instruction correction value, i q represents the quadrature axis current, J n represents the first moment of inertia, and J represents the moment of inertia of the servo system.

[0051] In other words, the formula can be transformed into

[0052] Step 104 : Calculate the moment of inertia of the servo system based on the above magnitude relationship and the first moment of inertia.

[0053] It can be understood that, since in actual processes, the first moment of inertia is usually set to a known parameter value, for example, the first moment of inertia can be set to y times the moment of inertia of the servo motor itself, wherein the value of the multiple y in the servo motor usually ranges from 1 to 10, and the moment of inertia of the servo motor itself is usually also known. Therefore, after obtaining the magnitude relationship between the quadrature-axis current command correction value and the quadrature-axis current, since the magnitude relationship between the quadrature-axis current command correction value and the quadrature-axis current reflects the relationship between the moment of inertia of the servo system and the first moment of inertia, the moment of inertia of the servo system can be obtained.

[0054] The present application solution does not require any specific input instructions to the servo system, nor does it require any complex calculations. The moment of inertia of the servo system can be identified by utilizing a disturbance observer.

[0055] In one embodiment of the present application, the above step 101 may be specifically implemented in the following manner: determining a single-inertia system dynamics equation, which satisfies the following formula 1:

[0056]

[0057] Where J represents the moment of inertia of the servo system, ω is the speed of the servo motor, B is the friction coefficient, T e is the electromagnetic torque, T L is the load disturbance torque parameter.

[0058] Since the friction coefficient is usually small, the friction coefficient B can be ignored in the actual calculation process. Therefore, Formula 1 is transformed into an equivalent equation, such as Formula 2:

[0059] T L =(K T i q -JSω)

[0060] After obtaining the equivalent dynamic equation, the initial load disturbance matrix is ​​obtained according to the equivalent dynamic equation, that is, the load disturbance matrix parameter T L Substitute the value into T L (s), in order to filter out the influence of high frequency noise on the servo system, T L (s) is subjected to a first-order low-pass filter, as shown in the following formula 3:

[0061]

[0062] Among them, T L (s) is the initial load disturbance torque, is the load disturbance torque.

[0063] like Figure 2 As shown, Figure 2 The part within the dotted box is the block diagram of the disturbance observer (Disturbance OBserver, DOB).

[0064] According to the motor dynamics equation, the electromagnetic torque T can be obtained e T e =K T i q Combining Formula 3 and the equivalent Formula 2, the transfer function of the mathematical model corresponding to the disturbance observer of this embodiment can be obtained, as shown in the following Formula 4:

[0065]

[0066] Since the above formula 4 has a differential link, in order to avoid it being difficult to implement in practical applications, the formula 4 is transformed into the formula 5:

[0067]

[0068] Where g is the cutoff frequency of the disturbance observer, K Tn is the torque coefficient in the disturbance observer, K Tn The value is equal to K T ,i q is the quadrature axis current, J n is the moment of inertia designed for the disturbance observer. Formula 5 is another form of the transfer function of the disturbance observer provided in the embodiment of the present application, corresponding to Figure 3 The block diagram is shown in the dashed box.

[0069] In one embodiment of the present application, the quadrature axis current i of the servo system is q and the speed of the servo motor ω are input into the disturbance observer, and the first moment of inertia J of the disturbance observer is adjusted n , which is the inertia parameter of the disturbance observer.

[0070] In the embodiment of the present application, when T L When it is a very small value or 0, it can be seen from formula 2 that the speed of the servo motor ω=K Tn i q / J n s, therefore, the quadrature axis current command correction value output by the disturbance observer is The following formula 6 is satisfied:

[0071]

[0072] Among them, K T Indicates the torque coefficient of the servo motor.

[0073] In this embodiment, since the torque coefficient of the servo motor is fixed, Formula 6 can be finally simplified to Formula 7:

[0074]

[0075] Therefore, the quadrature axis current i q and quadrature axis current command correction value When known, the first moment of inertia J can be obtained n And the relationship between the moment of inertia J of the servo system, then, due to the first moment of inertia J n It is also known (for example, the first moment of inertia J can be set n =X times the moment of inertia of the servo motor), so that the first moment of inertia J n The relationship between the rotational inertia J of the servo system and the rotational inertia J of the servo system is used to determine the rotational inertia J of the servo system, simplify the process of rotational inertia identification, reduce the identification calculation time and amount, and improve the identification efficiency.

[0076] As an example, the first moment of inertia J n The size of can be set to A. From the above embodiment, it can be seen that the first moment of inertia J n The relationship between the magnitude of the moment of inertia J of the servo system is determined by the quadrature axis current command value i q and quadrature axis current command correction value Specifically, from Formula 7, the moment of inertia of the servo system is obtained as Formula 8:

[0077]

[0078] For example, Figure 4 As shown, Figure 4 shows that JJ0 is adjusted by the first moment of inertia J of the disturbance observer n , for example, adjusting the first moment of inertia J of the disturbance observer n When the moment of inertia J0 of the servo motor is 4 times of its own, the quadrature axis current command correction value at different times is and the quadrature axis current i q The waveform between .

[0079] like Figure 4 As shown, at the same time T0, assuming that the measured quadrature axis current i q =-17.37, quadrature axis current command correction value therefore Combining the above formula 7, we can know that therefore Right now That is, the first moment of inertia J n The relationship between the moment of inertia J of the servo system is the first moment of inertia J n The ratio of the moment of inertia J of the servo system is 2, and J n =4J0, so it can be concluded that the relationship between the rotational inertia J of the servo system and the rotational inertia J0 of the servo motor is J=2J0.

[0080] The embodiment of the present application provides a device 501 for identifying the moment of inertia of a servo system. Figure 5 As shown, it includes: a first determination module 5011, which is used to determine the disturbance observer. An input module 5012, which is used to input the quadrature-axis current of the servo motor in the servo system, the first moment of inertia set for the disturbance observer, and the speed of the servo motor into the disturbance observer, to obtain a quadrature-axis current command correction value output by the disturbance observer, wherein the quadrature-axis current is the quadrature-axis current value when the inertia ratio of the servo system is less than a preset threshold value. The inertia ratio of the servo system is less than the preset threshold value, and the preset threshold value must be less than 20. The servo system must operate under conditions with no external load or very little external load. A first calculation module 5013, which is used to calculate the magnitude relationship between the quadrature-axis current command value and the quadrature-axis current command correction value, the magnitude relationship being used to reflect the relationship between the moment of inertia of the servo system and the first moment of inertia. A second calculation module 5014, which is used to calculate the moment of inertia of the servo system based on the magnitude relationship and the first moment of inertia.

[0081] Figure 6 This is a schematic diagram of the structure of a control device provided in an embodiment of the present application. Figure 6 As shown, the control device 601 includes: a processor 6011, a memory 6012, and instructions 6013 stored in the memory 6012 and executable on the processor 6011. When the processor 6011 executes the instructions 6013, the steps of the method for estimating the moment of inertia of the servo system in the above embodiment are implemented.

[0082] An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed, the above-mentioned method for identifying the rotational inertia of the servo system is implemented.

[0083] The control device 601 can be a general-purpose computer device or a dedicated computer device. In a specific implementation, the control device 601 can be a desktop computer, a portable computer, a network server, a PDA, a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of the control device 601. Those skilled in the art will understand that Figure 6This is merely an example of the control device 601 and does not constitute a limitation on the control device 601 . The control device 601 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0084] The processor 6011 may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0085] If the integrated unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the above-mentioned method embodiments by using a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying the computer program code to the camera / terminal device, recording medium, computer memory, ROM (Read-Only Memory), RAM (Random Access Memory), CD-ROM (Compact Disc Read-Only Memory), magnetic tape, floppy disk, and optical data storage device. The computer-readable storage medium mentioned in the present application can be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0086] It should be understood that all or part of the steps for implementing the above embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the steps may be implemented in the form of a computer program product. The computer program product may include one or more computer instructions. The computer instructions may be stored in the above-mentioned computer-readable storage medium.

[0087] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0088] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0089] In the embodiments provided in this application, it should be understood that the disclosed apparatus / computer equipment and methods can be implemented in other ways. For example, the apparatus / computer equipment embodiments described above are merely schematic. For example, the division of modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of the apparatus or unit, which can be electrical, mechanical or other forms.

[0090] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0091] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for identifying the moment of inertia of a servo system, characterized in that: The inertia ratio of the servo system is less than a preset threshold, and the method includes: Determine the disturbance observer; Inputting the quadrature-axis current of the servo system, a first moment of inertia set for the disturbance observer, and a rotational speed of the servo motor in the servo system into the disturbance observer to obtain a quadrature-axis current command correction value output by the disturbance observer, wherein the quadrature-axis current is a current value when the inertia ratio of the servo system is less than a preset threshold; The magnitude relationship between the quadrature-axis current and the quadrature-axis current command correction value is determined, and the magnitude relationship satisfies the following formula: in, represents the quadrature axis current instruction correction value, i q represents the quadrature axis current, J n represents the first moment of inertia, and J represents the moment of inertia of the servo system; The moment of inertia of the servo system is determined according to the magnitude relationship and the first moment of inertia.

2. The method according to claim 1, characterized in that The mathematical model corresponding to the disturbance observer is determined by: an inertia parameter, a cutoff frequency of the disturbance observer, a torque coefficient of the disturbance observer, a frequency of the servo motor, and the quadrature-axis current, and the value of the inertia parameter is the first moment of inertia.

3. The method according to claim 2, characterized in that The mathematical model corresponding to the disturbance observer satisfies the following transfer function: in, represents the load disturbance torque, g is the cutoff frequency of the disturbance observer, s is the complex frequency domain factor, K Tn is the torque coefficient of the disturbance observer, i q is the quadrature axis current, J n is the first moment of inertia, and ω is the rotational speed of the servo motor.

4. The method according to claim 3, characterized in that Determining a disturbance observer includes: Determine the equivalent equation of the single inertia system dynamics equation, which satisfies the following formula: L =(K T i q -Jsω), where T L is the load disturbance torque parameter, K T Represents the torque coefficient parameter; The equivalent equation is processed using a first-order low-pass filter to obtain a first transfer function, which is: Among them, T L (s) is the initial load disturbance torque, Obtained by filtering the initial load disturbance torque; A mathematical model corresponding to the disturbance observer is determined according to the first transfer function and the equivalent equation.

5. A device for identifying the moment of inertia of a servo system, characterized in that: The device comprises: A determination module, for determining a disturbance observer; a calculation module, configured to input the quadrature-axis current of the servo system, a first moment of inertia set for the disturbance observer, and a rotational speed of the servo motor into the disturbance observer, and obtain a quadrature-axis current command correction value output by the disturbance observer, wherein the quadrature-axis current is a current value of the servo system when a value of an external load is less than a preset load threshold; The first determining module is configured to determine a magnitude relationship between the quadrature-axis current and the quadrature-axis current instruction correction value, wherein the magnitude relationship satisfies the following formula: in, represents the quadrature axis current instruction correction value, i q represents the quadrature axis current, J n represents the first moment of inertia, and J represents the moment of inertia of the servo system; The second determining module is configured to determine the moment of inertia of the servo system according to the size relationship and the first moment of inertia.

6. A control device, characterized in that: The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 4 when executing the computer program.

7. A computer-readable storage medium, characterized in that The readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 4 is implemented.

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