基于速度观测器的永磁同步电机转动惯量辨识

PMSM Inertia Identification Based on Speed Observer

为了提高伺服系统的控制性能,系统中永磁同步电机及其负载的转动惯量辨识显得尤为重要。而电机转速信号通常都是通过编码器位置信号经过简单差分和滤波后得到的,这样会引入相位滞后。为此,引入了速度观测器,将该观测器与改进最小二乘法相结合应用到永磁同步电机转动惯量辨识当中。速度观测器可以降低位置差分的相位滞后,使得观测到的速度信号更精确也更可靠。仿真与实验研究的结果都验证了速度观测器的引入对转动惯量辨识精度与收敛速度的提高作用。

It is very important to identify the inertia of the PMSM and its load in order to improve control performance of servo system： Since the velocity is usually derived from the angular position of the encoder using simple differences and filtering. Thus it can inject a phase lag. So the speed observer combined with recursive least square method was applied to the PMSM inertia identification. The speed observer can reduce phase lag and improve the accuracy and reliability of the velocity calculated. The function that the speed observer can improve accuracy and convergence rate of the inertia identification is proved by simulations and experiments.