摘要
为准确辨识伺服控制系统参数,针对高性能运动控制算法的要求,在分析典型伺服控制系统结构模型基础上,基于"库仑摩擦+黏性摩擦"模型,设计了无偏差最小二乘方法,研究其在"工控机+运动控制卡"数控系统平台上的实现方法。实时采集电机角速度数据,利用设计的方法估算伺服系统转动惯量、黏性摩擦和库仑转矩,通过角速度重构,对比理论计算和实际测量角速度,验证参数辨识的有效性和准确性。理论分析和实验结果表明,所设计的参数辨识方法能够准确辨识系统参数。
Aiming at accurate parameter identification of a servo control system and the demands of high performance motion control algorithm, a typical servo control system model was analyzed and the unbiased least square method was designed based on Coulomb friction and viscous friction model. Implementation methods of it were studied on the hardware of industrial PC and motion control card. Motor angular speed data was collected in real time. The inertia, viscous friction and Coulomb torque of system were estimated using the least square method. The validity and the correctness of parameter identification were verified through reconstructing the angular speed, comparing the actual measure- ment with theoretical calculation angular speed. Theoretical observation and experimental results show that the, parameters of the servo system can be accurately identified in this kind of CNC system platform with the unbiased least square method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2016年第1期109-113,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51275147)
国家科技重大专项(2012ZX04001-021)
关键词
伺服控制
无偏差最小二乘法
角速度重构
参数辨识
servo control
unbiased least square method
angular velocity reconstruction
parameter identification
