双惯量弹性伺服系统外部机械参数辨识综述

A Review of External Mechanical Parameter Identification of Two-mass Elastic Servo Systems

伺服系统作为机电一体化系统中关键执行部件,其控制器刚度设置需要随负载惯量、轴系刚度等外部机械参数改变而作相应整定,因此外部机械参数辨识具有重要意义。单惯量刚性系统以转动惯量为主的参数辨识方法已经在近20年大量涌现,成熟度较高。但实际系统的传动机构多为弹性部件,会引发系统的机械谐振,进而导致系统性能恶化,因此双惯量弹性系统的参数辨识实际意义更为重大,并逐渐成为热点研究方向。双惯量弹性系统的参数辨识可分为等效单惯量辨识法、参数法和非参数法3种方法。该文分析双惯量弹性系统每种辨识方法的基本思想,对比各自优缺点,剖析辨识算法在各工业领域中的应用,总结现有研究成果及有待解决的问题,并展望未来的研究方向。

As an execution unit of mechatronics systems whose stiffness of the controller, the servo system needs an appropriate adjustment with various external mechanical parameters like load inertia, shaft stiffness and so on. Therefore, the identification of the external mechanical parameters plays an important role. With great emerging of the methods in the past 20 years, the maturity of the ＂inertia-based＂ identification method for the one-mass rigid system is high enough. However, the transmission part of actual systems is more elastic, which will lead to mechanical resonance, even the deterioration of system performances. Thus, parameter identification of two-mass elastic systems has more significant value, and it gradually becomes a hot research field. Parameter identification methods of two-mass elastic systems can be divided into the equivalent one-inertia identification method, the parametric method and the non-parametric method. The basic idea and the application in various industrial fields behind each identification method of the two-mass elastic system were analyzed, together with the advantages and disadvantages compared. The existing research results and unsolved problems were summarized, with prospects of future research directions.