Research And Implementation Of Load Inertia Identification Method For High Performance Servo Device

The servo device is the core implementation component of mechatronics,and is widely used in robots,CNC machine tools and other fields that require high performance and high operational reliability.The moment of inertia is a key parameter to ensure high-performance control of the servo system.The inertia value under the load of the servo system can be identified,which has higher engineering application significance for realizing controller parameter self-tuning,improving control performance and ensuring dynamic stability.This thesis first introduces the mathematical model and vector control strategy of PMSM,analyzes the effect of rotational inertia on controller parameter auto-tuning,and analyzes the inertial model of servo system.In the context of the demand for high-performance control of servo devices,various inertia identification methods have been analyzed.Considering the inconvenient measurement of the rotational inertia of the servo system,a novel inertia identification method based on the improved particle swarm algorithm was proposed.The optimal approximation of the system's moment of inertia and load torque can be obtained at the same time.Through the transformation of the PMSM mathematical model,the inertia identification problem is abstracted as a heuristic optimization problem.Then the particle swarm optimization algorithm is used to solve the problem,and the particle swarm optimization algorithm is proposed to improve the problem characteristics.The MATLAB simulation environment verifies the feasibility and effectiveness of the identification algorithm.The servo system software design is completed on the servo system hardware platform.A component-based reconfigurable servo software system including inertia identification algorithm was designed.Based on this,the PMSM inertia identification experiment was designed and completed.The experiment proves that the designed identification algorithm successfully recognizes the system inertia moment value,and can quickly respond to the abrupt change of load inertia to track the inertia change value.Finally,the identified inertia value is used for controller parameter auto-tuning,which obviously improves the dynamic performance and robustness of the servo system.