Inertia identification method of servo system, servo system and storage medium
By inputting excitation signals into the servo system and using the current loop, load and feedback filter models, the parameter sensitivity and oscillation problems of inertia identification of servo system are solved, and accurate inertia identification under unknown inertia conditions is achieved, reducing the risk of equipment damage.
Patent Information
- Application Number
- CN202510543997.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-28
- Publication Date
- 2025-07-25
AI Technical Summary
The existing servo system inertia identification methods are sensitive to parameters and require the motor to operate on a large scale. In the absence of inertia, the system may oscillate, making it difficult to accurately identify the motor's rotational moment of inertia.
By obtaining the excitation signal, inputting it into the servo system, using the current loop model, load model and feedback filter model, the load parameter value is determined based on the equations of the output signal and excitation signal, including the moment of inertia, and using the Chirp signal and high-frequency injection signal to cover the dynamic response frequency band of the servo system to achieve inertia recognition.
In the absence of unknown inertia and no operating distance, accurately identify the inertia of servo system, reduce equipment damage and personal danger, improve load condition adaptability and suppress system noise.
Smart Images
Figure CN120377754A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of servo, and in particular to an inertia identification method for a servo system, a servo system and a storage medium. Background Art
[0002] For the speed control loop in a servo system, the response bandwidth of the system is closely related to the inertia of the system. When the set inertia parameter in the servo system does not match the actual mechanical parameter, problems such as too slow system response or system oscillation will occur. Moreover, in practical applications, the inertia of the servo system is often unknown and requires technicians with professional knowledge to debug. Therefore, in actual servo application scenarios, it is necessary to accurately identify the motor inertia to ensure the control stability and accuracy of the servo system.
[0003] Currently, the general motor inertia identification schemes include the recursive least squares method, the disturbance observer, the model reference adaptive method, and the acceleration / deceleration method. These methods are sensitive to parameters and have high requirements for the operating trajectory conditions. The motor needs to operate within a large range. However, when the motor operates with an unknown inertia, system oscillation may occur, and thus the above-mentioned schemes cannot be used for identification. Summary of the Invention
[0004] Based on this, in view of the above technical problems, it is necessary to provide an inertia identification method for a servo system, a servo system and a storage medium, which can perform inertia identification when the initial inertia is unknown and the operating range is limited.
[0005] An inertia identification method for a servo system, the method comprising:
[0006] Obtain an excitation signal;
[0007] Input the excitation signal into the servo system to obtain an output signal; the model of the servo system includes a current loop model, a load model and a feedback filter model;
[0008] Based on an equation including the output signal, the excitation signal and the model of the servo system, determine the load parameter value of the servo system; the load parameter value includes the moment of inertia.
[0009] A servo system, comprising a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of each embodiment of the inertia identification method for the servo system are implemented.
[0010] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of each embodiment of the inertia identification method for the servo system are implemented.
[0011] A computer program product includes a computer program which, when executed by a processor, implements the steps of the method embodiments for inertia identification of each servo system.
[0012] For the above-mentioned method for inertia identification of a servo system, the servo system, and the storage medium, by inputting an excitation signal into the servo system to obtain the actual output signal of the servo system, and based on the equation including the output signal, the excitation signal, and the model of the servo system, the load parameter value of the servo system is determined. After the excitation signal is input into the servo system, the servo system hardly moves and the output signal can be obtained. Through the corresponding equation, the inertia of the servo system can be identified without sensing under the condition of unknown inertia and almost no operating distance of the servo system, greatly reducing the possibility of equipment damage or personal injury caused by machine collision. Description of the Drawings
[0013] Figure 1 It is an application environment diagram of the method for inertia identification of a servo system in an embodiment;
[0014] Figure 2 It is a schematic flowchart of the method for inertia identification of a servo system in an embodiment;
[0015] Figure 3 It is a schematic diagram of the model of a servo system in an embodiment;
[0016] Figure 4 It is a schematic diagram of the system response when the amplitude of the excitation signal is 5% of the rated current of the motor in an embodiment;
[0017] Figure 5 It is a schematic diagram of the system response when the amplitude of the excitation signal is 10% of the rated current of the motor in an embodiment;
[0018] Figure 6 It is a schematic diagram of the system response when the amplitude of the excitation signal is 10% of the rated current of the motor in an embodiment;
[0019] Figure 7 It is a schematic diagram of the system response when the amplitude of the excitation signal is 50% of the rated current of the motor in an embodiment;
[0020] Figure 8 It is a schematic diagram of the system response for identifying different inertias in an embodiment;
[0021] Figure 9 It is a schematic diagram of the system response when the encoder feedback accuracy is 12 bits in an embodiment;
[0022] Figure 10 It is a schematic diagram of the system response when the encoder feedback accuracy is 17 bits in an embodiment. Detailed Embodiments
[0023] It should be understood that the specific embodiments described herein are merely for explaining the present application and are not used to limit the present application.
[0024] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0025] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly. The described connection can be a direct connection or an indirect connection.
[0026] It can be understood that in the following embodiments, "connection", if there is an electrical signal or data transmission between the connected circuits, modules, units, etc., should be understood as "electrical connection", "communication connection", etc.
[0027] It can be understood that the operation of "acquiring data" in the embodiments of the present application includes but is not limited to the following implementation methods: directly reading the original data pre-stored in the device; or an indirect acquisition method after data collection, conversion, and processing.
[0028] The inertia identification method of the servo system provided by the present application can be applied to an application environment such as Figure 1 the following. Figure 1 FIG. is an application environment diagram of the inertia identification method of the servo system in an embodiment. Among them, the servo system includes a current loop module 110, a load module 120, and a feedback filter module 130, and the corresponding models include a current loop model G1(s), a load model G2(s), and a feedback filter model G3(s). Figure 1 The servo system in the following is the smallest servo system unit and is an open-loop system. It can be understood that Figure 1 the servo system in the following may also include other modules, such as a voltage loop module, a position loop control module, a controlled object transfer module, a feedback system transfer module, etc., for performing inertia identification of the servo system. And the servo system including the current loop module 110, the load module 120, and the feedback filter module 130 is the smallest unit for inertia identification of the servo system.
[0029] In one embodiment, an inertia identification method of a servo system, taking its application to a servo system as an example, such as Figure 2As shown, it is a schematic flowchart of an inertia identification method for a servo system in an embodiment, including the following steps:
[0030] Step 202, obtain an excitation signal.
[0031] Specifically, the excitation signal can adopt the Chirp (Chronological Impulse Radio Pulse, linear) signal type or a high-frequency injection signal. Through the high-frequency injection signal, the high-frequency response characteristics of the system can be obtained, and then state observation, parameter identification, or control optimization can be realized. The Chirp signal can cover the dynamic response frequency band of the servo system through frequency scanning, effectively stimulate the frequency domain characteristics of the system, provide sufficient frequency domain data for inertia identification, and realize extremely small displacement vibration through high-frequency injection.
[0032] Step 204, input the excitation signal into the servo system to obtain an output signal; the model of the servo system includes a current loop model, a load model, and a feedback filter model.
[0033] Among them, the expression of the current loop model G1(s) is
[0034]
[0035] where T1 is the current loop response time, and k t is the torque coefficient of the motor.
[0036] The expression of the load model G2(s) is
[0037]
[0038] where J is the load inertia and B is the rotational damping.
[0039] The expression of the feedback filter model G3(s) is
[0040]
[0041] where T3 is the feedback filtering time.
[0042] Specifically, the feedback filter can effectively filter out the noise in the signal, and is related to the accuracy of the servo system, which will affect the load inertia. The servo system is a hardware system, and the models in the servo system are software models. As Figure 3 shown, it is a schematic diagram of the model of the servo system in an embodiment. Then the model of the servo system includes a current loop model G1(s), a load model G2(s), and a feedback filter model G3(s). Input the excitation signal R(s) into the hardware servo system to obtain the output signal C(s).
[0043] Step 206: Determine the load parameter values of the servo system based on the equation including the output signal, the excitation signal, and the model of the servo system. The load parameter values include the moment of inertia.
[0044] Among them, the load parameter values include the moment of inertia and may also include rotational damping.
[0045] Specifically, from the Figure 3 model in, the equation can be obtained:
[0046]
[0047] Then
[0048]
[0049] By substituting appropriate frequencies, the moment of inertia J can be calculated, and the rotational damping B can also be calculated.
[0050] Optionally, the servo system may also include other modules, and the model of the servo system may also include other models. Similarly, determine the load parameter values of the servo system based on the equation including the output signal, the excitation signal, and the model of the servo system (current loop model, load model, feedback filter model + other models).
[0051] In this embodiment, the traditional motor inertia identification method is sensitive to parameters and has high requirements for the operating trajectory. The motor needs to operate within a large range before inertia identification can be performed. However, due to the unknown inertia, the traditional method may cause system oscillation and cannot be used for identification. The two are contradictory. Therefore, by inputting the excitation signal into the servo system to obtain the actual output signal of the servo system, and determining the load parameter values of the servo system based on the equation including the output signal, the excitation signal, and the model of the servo system, after the excitation signal is input into the servo system, the servo system hardly moves and the output signal can be obtained. Through the corresponding equation, the inertia of the servo system can be identified without sensing under the condition of unknown inertia and almost no operating distance of the servo system, greatly reducing the possibility of machine collision damaging equipment or injuring people; and it has strong load condition adaptability and strong suppression of system noise.
[0052] In one embodiment, the excitation signal includes a chirp signal.
[0053] In this embodiment, the chirp signal can cover the dynamic response frequency band of the servo system through frequency scanning, effectively excite the frequency domain characteristics of the system, provide sufficient frequency domain data for inertia identification, and achieve extremely small displacement vibration through high-frequency injection.
[0054] In one embodiment, the amplitude range of the excitation signal is the amplitude range that can overcome the system friction interference and the motor displacement does not exceed the limit.
[0055] The expression of the excitation signal such as the Chirp signal is
[0056]
[0057] wherein
[0058]
[0059] f0 is the initial frequency, f1 is the termination frequency, and T is the signal duration. The above-mentioned chirp signal is a signal in the time domain, and through Fourier transform, the signal in the time domain can be converted into a signal in the frequency domain and input into the servo system.
[0060] where A is the amplitude of the signal. Preferably, the amplitude range of the chirp signal is the amplitude range that can overcome the system friction interference and the motor displacement does not exceed the limit, such as 10% - 50% of the rated current. When the excitation current is small, it is easily affected by the non-linearity of the friction force, and the motor friction force is 1% - 3%, resulting in low accuracy of the load parameter value; while when the excitation current is too large, the displacement of the motor will become larger. The amplitude can be taken as the amplitude when the current of the motor is in a linear state and the motor displacement is small to avoid the above situation.
[0061] such as Figure 4 shown, is a schematic diagram of the system response when the amplitude of the excitation signal is 5% of the rated current of the motor in an embodiment. The system response refers to where the red line represents the amplitude and the blue line represents the phase angle. In this embodiment, the amplitude is mainly analyzed. Figure 4 To test the mechanical characteristics of the servo system, the amplitude of the test signal, that is, the amplitude of the excitation signal, is 5% of the rated current of the motor, and the curve is not smoothed. Then, when the amplitude of the excitation signal is 5%, at a frequency of 30 Hz, the response amplitude is 44.3 dB. Such as Figure 5 shown, is a schematic diagram of the system response when the amplitude of the excitation signal is 10% of the rated current of the motor in an embodiment. Figure 5 When the amplitude of the excitation signal is 10%, at a frequency of 30 Hz, the response amplitude is 49.6 dB. Such as Figure 6 shown, is a schematic diagram of the system response when the amplitude of the excitation signal is 25% of the rated current of the motor in an embodiment. Figure 6 When the amplitude of the excitation signal is 25%, at a frequency of 30 Hz, the response amplitude is 51 dB. Such as Figure 7 shown, is a schematic diagram of the system response when the amplitude of the excitation signal is 50% of the rated current of the motor in an embodiment. Figure 7When the amplitude of the excitation signal is 50%, the response amplitude is 51.5 dB at a frequency of 30 Hz. From the above results, it can be seen that when the excitation current is less than 10%, the response amplitude is too small, resulting in a large error; the error of the results obtained under the excitation current of 10% - 50% is relatively small, so the accuracy of the obtained moment of inertia is high. In addition, through the measurement of the motor displacement, it is obtained that when the excitation current increases, the motor will start to rotate and the displacement will increase.
[0062] In this embodiment, the amplitude range of the excitation signal is the amplitude range that can overcome the system friction interference and the motor displacement does not exceed the limit, and can obtain more accurate load parameter values when the motor displacement hardly changes.
[0063] In one embodiment, the frequency range of the excitation signal at least includes the effective response frequency band of the inertia damping characteristic of the servo system.
[0064] Specifically, the system response of the servo system at 20 - 100 Hz mainly shows an inertia damping model, representing the inertia damping characteristic, and the load parameter values calculated from the data here are more accurate. It can be understood that the frequency range of the excitation signal can also include other frequencies. For example, the initial frequency f0 can be set to 1 - 10 Hz, and the termination frequency can be set to 500 - 2000 Hz.
[0065] Optionally, the frequency range of the excitation signal can also include avoiding the low - frequency region dominated by friction and the high - frequency region of mechanical resonance.
[0066] In this embodiment, the frequency range of the excitation signal at least includes the effective response frequency band of the inertia damping characteristic of the servo system. In this frequency band, stable inertia identification characteristics can be presented, so that the obtained load parameter values are more accurate.
[0067] In one embodiment, based on the equation including the output signal, the excitation signal, and the model of the servo system, to determine the load parameter value of the servo system, it includes:
[0068] Obtain the reference frequency; the reference frequency is the effective response frequency characterizing the inertia damping characteristic of the servo system;
[0069] Substitute the reference frequency into the equation including the output signal, the excitation signal, and the model of the servo system to obtain the load parameter value of the servo system.
[0070] Among them, the reference frequency is the effective response frequency characterizing the inertia damping characteristic of the servo system. And the effective response frequency is at least one frequency in the effective response frequency band, characterizing the inertia damping characteristic of the servo system.
[0071] Specifically, the servo system obtains a reference frequency, which characterizes the effective response frequency of the inertia damping characteristic of the servo system. Substitute this effective response frequency into the equation that includes the output signal, the excitation signal, and the model of the servo system. After calculation, take the real part of the obtained imaginary number as the rotational damping and the imaginary part of the imaginary number as the moment of inertia.
[0072] From Figure 3 the model in, the equation can be obtained:
[0073]
[0074] Then
[0075]
[0076] s = 2πf * j
[0077] Among them, the current loop response time T1, the feedback filter time T3, and the torque coefficient k of the motor t , the response of the servo system are all known numbers. Therefore, accurate moment of inertia and rotational damping can be obtained by taking the effective response frequency for calculation.
[0078] In this embodiment, obtain the reference frequency, substitute the reference frequency into the equation that includes the output signal, the excitation signal, and the model of the servo system. Through a simple model in the actual application process, preliminarily determine the inertia of the servo system, and the operation is simple.
[0079] In one embodiment, the equation that includes the output signal, the excitation signal, and the model of the servo system represents an equation in the frequency domain;
[0080] Substitute the reference frequency into the equation that includes the output signal, the excitation signal, and the model of the servo system to obtain the load parameter values of the servo system, including:
[0081] Substitute the reference frequency into the equation that includes the output signal, the excitation signal, and the model of the servo system. Take the real part of the obtained imaginary number as the rotational damping and the imaginary part of the imaginary number as the moment of inertia.
[0082] In this embodiment, the equation that includes the output signal, the excitation signal, and the model of the servo system represents an equation in the frequency domain. It can determine the preliminary load parameter values of the servo system when the load parameter values are unknown and the servo system has almost no running distance. The operation is simple and greatly reduces the possibility of the machine colliding and damaging the equipment or hurting people.
[0083] In one embodiment, substitute the reference frequency into the equation that includes the output signal, the excitation signal, and the model of the servo system to obtain the load parameter values, including:
[0084] Substitute at least two reference frequencies into the equations of the model including the output signal, the excitation signal, and the servo system respectively to obtain the load parameter values corresponding to each reference frequency; the at least two reference frequencies are selected from the middle section of the effective response frequency range.
[0085] Average the load parameter values corresponding to each reference frequency to obtain the load parameter value of the servo system.
[0086] Specifically, the at least two reference frequencies are selected from the middle section of the effective response frequency range. From Figures 4 to 7 Observations show that when the frequency is in the range of 0 - 20 Hz, the servo system is greatly affected by friction. Since the response frequency domain of the system's mechanical characteristics is generally above 100 Hz, this frequency band is easily affected by mechanical resonance, resulting in distorted response data. Therefore, the at least two reference frequencies are selected from the middle section of the effective response frequency range, i.e., 30 - 60 Hz. That is, the at least two reference frequencies are selected from 30 - 60 Hz, such as f = 30, 31, 35, 36, 40, 45, 50, 55... 60, etc. Then substitute
[0087]
[0088] s = 2πf*j
[0089] Then the moment of inertia and rotational damping corresponding to each reference frequency can be obtained. Average the moments of inertia of each reference frequency to obtain the moment of inertia of the servo system; average the rotational dampings of each reference frequency to obtain the rotational damping of the servo system.
[0090] In this embodiment, by substituting multiple reference frequencies into the equations of the model including the output signal, the excitation signal, and the servo system respectively to obtain the load parameter values corresponding to each reference frequency and averaging the load parameter values corresponding to each reference frequency, the error of the obtained load parameter values can be effectively reduced.
[0091] In one embodiment, a method for identifying the inertia of a motor includes the following steps:
[0092] 1. Establish a current loop model, a load model, and a feedback filter model of the servo system
[0093] Among them, the expression of the current loop model G1(s) is
[0094]
[0095] where T1 is the current loop response time, and k t is the torque coefficient of the motor.
[0096] The expression of the load model G2(s) is
[0097]
[0098] where J is the moment of inertia and B is the rotational damping.
[0099] The expression of the feedback filter model G3(s) is
[0100]
[0101] where T3 is the feedback filtering time.
[0102] 2. Process the input and output data to obtain the frequency-domain response function of the model
[0103] The excitation signal can adopt the Chirp signal type: where A is the amplitude of the signal, which can preferably be 10% - 50% of the rated current of the motor. Reason: If the excitation current is too small, it is easily affected by the non-linearity of the friction force. Generally, the motor friction force is about 1 - 3%. As Figures 4 to 7 shown, at 5% excitation current, the system 30Hz response amplitude is 44.3dB; at 10% excitation current, the system 30Hz response amplitude is 49.6dB; at 25% excitation current, the system 30Hz response amplitude is 51dB; at 50% excitation, the system 30Hz response amplitude is 51.5dB; it can be seen from the above results that the error of the results obtained at 10% - 50% excitation current is relatively small; if the excitation current is too large, the motor displacement will become larger.
[0104] f0 is the initial frequency, which can preferably be set to 1 - 10 (Hz); where f1 is the termination frequency, which can preferably be configured as 500 - 2000 (Hz), and T is the signal duration; is the initial phase, which can preferably be configured as 0. Then R(t) undergoes FFT (Fast Fourier Transform) to obtain the frequency-domain data R(s), and is input into the servo system. The speed output signal C(t) is obtained through system acquisition, and then undergoes FFT to obtain the frequency-domain data C(s). Reason: The system response of the servo system at 20 - 100Hz is mainly manifested as the inertia damping model, so the data collected needs to include data at 20 - 100Hz
[0105] 3. Calculate the moment of inertia
[0106] From the above model, the equation can be obtained:
[0107] Furthermore, it can be obtained:
[0108]
[0109] Let \(s = 2\pi fj\), where \(f\) is the frequency and can be preferably \(30 - 60Hz\); \(j\) is the imaginary part. Substituting it into the above equation, the real part of the imaginary number is the rotational damping \(B\), and the imaginary part is the moment of inertia \(J\).
[0110] Reason: As can be seen from the previous excitation current diagram, the influence of friction is relatively large from \(0\) to \(20Hz\); since the response frequency domain of the system's mechanical characteristics is generally above \(100Hz\); when there is a relatively low response frequency, it will affect the system response, so it is recommended to take the system response value of \(60Hz\).
[0111] Beneficial effects: 1. Strong adaptability to load conditions, and the load inertia ratio can be normally identified at least within the range of \(0 - 120\) times. As Figure 8 shown, it is a schematic diagram of the system response for identifying different inertias in an embodiment. Figure 8 The purple line in it is the system response curve of 1 times the moment of inertia, and the red line is the system response curve of 120 times the moment of inertia. It can be seen from this that their response curves are all in the same style, so the moment of inertia of the servo system can be normally identified at least within the range of \(0 - 120\) times.
[0112] 2. The input signal is chirp or a high-frequency injection signal, and the servo system has basically no running distance, greatly reducing the possibility of the machine colliding and damaging the equipment or injuring people.
[0113] 3. Strong suppression of system noise, and it can be identified when the encoder feedback accuracy is above 12 bits. As Figure 9 shown, it is a schematic diagram of the system response with an encoder feedback accuracy of 12 bits in an embodiment. For a 12-bit encoder under 25% excitation current, the system response amplitude at 30Hz is 50.5dB, and the data is basically the same in the range of 30Hz to 60Hz. As Figure 10 shown, it is a schematic diagram of the system response with an encoder feedback accuracy of 17 bits in an embodiment. For a 17-bit encoder under 25% excitation current, the system response amplitude at 30Hz is 51dB. Similarly, the data is basically the same in the range of 30Hz to 60Hz.
[0114] In an embodiment, a method for identifying the inertia of a servo system includes:
[0115] Step (a1), obtaining an excitation signal; the excitation signal includes a chirp signal; the amplitude range of the excitation signal is the amplitude range that can overcome the system friction interference and the motor displacement does not exceed the limit; the frequency range of the excitation signal at least includes the effective response frequency band characterizing the inertia damping characteristics of the servo system.
[0116] Step (a2), inputting the excitation signal into the servo system to obtain an output signal; the model of the servo system includes a current loop model, a load model, and a feedback filter model.
[0117] Step (a3), obtain a reference frequency; the reference frequency is an effective response frequency characterizing the inertia damping characteristic of the servo system.
[0118] Step (a4), substitute at least two reference frequencies into the equation of the model including the output signal, the excitation signal, and the servo system respectively, take the real part of the obtained imaginary number as the rotational damping, and take the imaginary part of the imaginary number as the moment of inertia, to obtain the moment of inertia and rotational damping corresponding to each reference frequency.
[0119] Step (a5), average the moments of inertia corresponding to each reference frequency to obtain the moment of inertia of the servo system.
[0120] Step (a6), average the rotational dampings corresponding to each reference frequency to obtain the rotational damping of the servo system.
[0121] In this embodiment, by inputting the excitation signal into the servo system, the actual output signal of the servo system is obtained. Based on the equation of the model including the output signal, the excitation signal, and the servo system, the load parameter value of the servo system is determined. After the excitation signal is input into the servo system, the servo system hardly moves and the output signal can be obtained. Through the corresponding equation, the load parameter value of the servo system can be obtained without sensing under the condition that the servo system has almost no running distance, greatly reducing the possibility of the machine collision damaging the equipment or injuring people; and it has strong load condition adaptability and strong suppression of system noise.
[0122] It should be understood that although the steps in the above Figure 2 flowchart are shown in sequence according to the indication of the arrows, and the steps in steps (a1) to (a6) are shown in sequence according to the indication of the labels, these steps are not necessarily executed in sequence according to the indication of the arrows or numbers. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 2 at least a part of the steps in
[0123] In one embodiment, a servo system is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps of the above method embodiments are implemented.
[0124] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-described method embodiments are implemented.
[0125] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps of the methods in the above-described embodiments are implemented.
[0126] Those of ordinary skill in the art can understand that all or part of the processes in the above-described method embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes in the above-described method embodiments. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.
[0127] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, is similarly included in the patent protection scope of the present application.
Claims
1. An inertia identification method for a servo system, characterized in that The method includes: Obtaining an excitation signal; Inputting the excitation signal into a servo system to obtain an output signal; the model of the servo system includes a current loop model, a load model, and a feedback filter model; Based on an equation including the output signal, the excitation signal, and the model of the servo system, determining a load parameter value of the servo system; the load parameter value includes a moment of inertia.
2. The method according to claim 1, wherein The excitation signal includes a chirp signal.
3. The method according to claim 1, wherein The amplitude range of the excitation signal is an amplitude range capable of overcoming system friction interference and without exceeding the motor displacement limit.
4. The method according to claim 1, wherein The frequency range of the excitation signal at least includes an effective response frequency band characterizing the inertia damping characteristic of the servo system.
5. According to the method described in claim 1, the determining the load parameter value of the servo system based on the equation including the output signal, the excitation signal, and the model of the servo system includes: Obtaining a reference frequency; The reference frequency is an effective response frequency characterizing the inertia damping characteristic of the servo system; Substituting the reference frequency into the equation including the output signal, the excitation signal, and the model of the servo system to obtain the load parameter value of the servo system.
6. The method according to claim 5, characterized in that The equation including the output signal, the excitation signal, and the model of the servo system represents an equation in the frequency domain; The substituting the reference frequency into the equation including the output signal, the excitation signal, and the model of the servo system to obtain the load parameter value of the servo system includes: Substituting the reference frequency into the equation including the output signal, the excitation signal, and the model of the servo system, taking the real part of the obtained imaginary number as the rotational damping, and taking the imaginary part of the imaginary number as the moment of inertia.
7. The method according to claim 5, characterized in that, The substituting the reference frequency into the equation including the output signal, the excitation signal, and the model of the servo system to obtain the load parameter value includes: Substituting at least two of the reference frequencies into the equation including the output signal, the excitation signal, and the model of the servo system respectively to obtain the load parameter values corresponding to each reference frequency; the at least two reference frequencies are selected from the middle section of the effective response frequencies; Averaging the load parameter values corresponding to each reference frequency to obtain the load parameter value of the servo system.
8. A servo system, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method described in any one of claims 1 to 7 are implemented.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method described in any one of claims 1 to 7 are implemented.
10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method described in any one of claims 1 to 7 are implemented.