[关键词]
[摘要]
针对传统离线惯量辨识方法计算精度不高,应用场合受限的问题,提出了一种改进的离线惯量辨识方法。该方法采用加减速指令规划在辨识过程中引入了转矩积分的计算方式,消除了负载与摩擦的影响,提高了辨识结果的精确度。建立了伺服系统离线惯量辨识的计算模型。对所提方法进行了试验验证。结果表明,该方法可以有效提高辨识结果的精确度,在带负载的场合同样适用。
[Key word]
[Abstract]
The traditional offline inertia identification methods have low calculation accuracy and limited application occasions. Aiming at this problem, an improved off-line inertia identification method is proposed. Acceleration and deceleration programming with the torque calculation method is introduced into the identification process, and the effects of friction and load are eliminated, so that the accuracy of identification results is improved. A calculation model is established for the offline inertia identification of servo system. The proposed method is experimentally verified. The results show that this method can effectively improve the identification accuracy, and it also applies to the loaded case.
[中图分类号]
[基金项目]
广东省省级科技计划项目 (2016B090911003)