基于参数辨识的永磁伺服系统转速自适应控制

Speed Adaptive Control of Permanent Magnet Servo System Based on Parameter Identification

针对伺服电机驱动中转速控制器性能因伺服系统参数变化而下降的问题,提出一种基于参数辨识的转速自适应控制方法。对于转动惯量的变化,在连续域建立模型参考自适应系统(MRAS),通过Popov超稳定性理论设计一种比例+积分(PI)型自适应律,提高了惯量辨识的收敛速度和稳态精度。对于负载转矩,提出一种基于中间变量设计的扰动观测器。将辨识值反馈至速度控制器中,实现控制器参数在线自整定。试验结果表明,所提转速自适应控制方法能准确辨识出转动惯量和负载转矩从而进行控制器参数调整,该方法对参数变化具有良好的鲁棒性。

With the change of servo system parameters,the performance of the speed controller in the servo motor drive decreases.Aiming at this problem,a speed adaptive control method based on parameter identification is proposed.For the change of inertia,the model reference adaptive system(MRAS)is established in the continuous domain,and a proportional integral(PI)adaptive law is designed based on Popov hyperstability theory,which improves the convergence speed and steady-state accuracy of inertia identification.For load torque,a disturbance observer based on intermediate variable design is proposed.The identified values are fed back to the speed controller to realize on-line self-tuning of controller parameters.The experimental results show that the proposed method can accurately identify the moment of inertia and load torque for parameter adjustment of the controller and improve the controller′s robustness to parameter change.