转台伺服系统负载转矩估计研究

Research on the Load Torque Estimation of Turntable Servo System

针对转台系统工作时负载转矩和系统参数变化大的特点,建立了伺服系统负载机械运动离散模型,设计了负载转矩观测器对负载进行估计。建立了电机系统扩展卡尔曼滤波模型并对转子角速度和角度进行估计。通过估计的电机转子角速度值和角度值得到减速器输出端相应值从而对伺服系统负载转矩进行估计。仿真结果表明扩展卡尔曼滤波方法能准确估计电机状态,负载转矩观测器能准确估计负载转矩,对提高转台伺服系统跟踪精度具有一定的理论意义。

This paper concerns with turntable servo system with large load torque variation and parameter variation. The discrete model of motion equation was established and the load torque observer was designed to estimate system load. The extended kalman filter model （EKF） of motor system was also constructed to estimate rotor angle speed and angle position. The speed and position values of reducer output were obtained to estimate the load torque of servo system. The simulation results indicate that rotor position and speed can be estimated effectively by EKF and the load torque is estimated accurately by the observer. It provides theoretical support for rocket launcher servo system to improve tracking precision.