为了使伺服系统在负载变动下得到优良的动态响应,提出了一种基于实际电机控制系统输入输出构建的非线性可调重构模型,对实际系统进行重构,并根据收敛之后的重构模型参数,完成电机关键机械参数的准确辨识。其中,全维观测器用来获得电机负载转矩状态观测量,与输入电磁转矩一同作为所构建的自适应机构的输入参数；当可调重构系统的输出与实际系统的输出为无差收敛时,实现对实际系统的重构。仿真和试验验证了该方法的可行性和有效性,能够对模型中预设的不同转动惯量进行准确的辨识。

Based on selfadaptive identification theory, an easily realized reconfigurable method for the control system was presented, including a full state observer used to acquire the load torque state and a selfadaptive module used to lead the convergence of reconfigurable system. By taking the electromagnetic torque and the load torque observing state as input of reconfigurable system, the moment of inertia could be acquired when the system converges. The feasibility and efficiency of the proposed method had been verified by the simulation results, different inertia values set in the model can be identified accurately.

TP 276

上海市科委企业合作专项项目(15dz1180400);上海工程技术研究中心能力提升项目(17DZ2283300)