转台系统转动惯量辨识与控制器参数自调整

Inertia identification and controller parameter self-tuning of NC rotary table system

针对转动惯量的变化影响直接驱动数控转台环形永磁力矩电机伺服系统的稳定性、定位精度和动态响应这一问题,在分析环形永磁力矩电机转动惯量变化对转速影响的基础上,提出一种基于扩展卡尔曼滤波(EKF)的辨识方法.对系统转动惯量、负载转矩、转速进行辨识,速度环采用PDF控制器,根据转动惯量辨识值在线调整控制器参数,并将负载转矩辨识值动态补偿到速度环中,以提高系统的动态性能和抗干扰能力.仿真结果验证了该算法的有效性.

The change of inertia directly influences the stability, locating accuracy and dynamic response of permanent magnet ring torque motor servo system used in direct drive NC rotary table. An inertia identification method using Extended Kalman Filter （EKF） was proposed to identify the inertia, load torque and speed based on the influence analysis of the inertia change on the speed for permanent magnet ring torque motor. A PDF controller was adopted in the speed loop, and the controller parameters were adjusted online based on the inertia identification value. The load torque identification value was dynamically compensated into the speed loop to enhance the dynamic performance and disturbance resistance of the system. The simulation results prove the validity of the proposed algorithm.