基于MRAI的伺服系统转动惯量辨识及改进研究

Inertia identification and its improvement of servo system based on MRAI

针对伺服系统控制参数自整定所需转动惯量参数的辨识问题,对基于模型参考自适应辨识(MRAI)思想的转动惯量辨识方法进行了研究。根据离散递推辨识机制构建了自适应辨识律,并通过分析辨识增益大小对惯量辨识响应的影响,提出了一种辨识增益自适应调整的改进算法;基于惯量辨识结果评价标准,建立了分段函数以实现辨识增益的动态调整;在仿真模型和实际系统中对不同辨识增益对惯量辨识的影响进行了对比测试。研究结果表明:改进的惯量辨识方法可以解决惯量辨识响应快速性和稳定性的矛盾,能够快速跟踪系统转动惯量的变化,可用于伺服控制参数的自整定。

Aiming at the identification problem of the inertia,which is required by self-tuning of the servo control parameters,the method based on model reference adaptive identification（ MRAI） was studied. The adaptive identification law was constructed according to the discrete recursive identification mechanism,and by analyzing the influence of the identifying gain size on the inertia identification response,an improved adaptive adjustment algorithm was proposed,which is based on the evaluation criteria of the identification result,and the piecewise function was established to realize the dynamic adjustment of the gain. In simulation model and actual system,the influence of different identifying gain was compared and tested. The results show that the improved method can solve the contradiction of the rapidity and stability of the inertia identification,and can quickly track the change of the inertia of the system,and can be used for the self-tuning of servo control parameters.