Research On The Online Identification Method Of Moment Of Inertia Of A Servo Drive System

As servo drive systems are increasingly used in industrial automation,aerospace,sixaxis articulated arm and other industries and products,the performance of servo drive systems has put forward higher requirements.Since the load moment of inertia of the servo drive system will determine the dynamic performance of the servo system,in order to improve the dynamic performance of the servo drive system,the servo drive system is accurately parameterized,and the load moment of inertia is used as the feedback signal to make the servo drive.The performance of the system is improved.In this paper,the servo drive system of the permanent magnet synchronous motor is used as the identification model,and the weighted least squares method of index forgetting and the model reference adaptive algorithm(hereinafter referred to as MRAS algorithm)are used to synchronize the permanent magnets under different input excitations.The moment of inertia of the motor is identified.In this paper,the permanent magnet synchronous motor and servo drive system are parameterized,the mathematical model of servo drive system and permanent magnet synchronous motor is determined,and the formula for parameter identification is derived.The simulation platform based on MATLAB and Simulink is introduced.Through the above-mentioned mathematical model of servo drive system and permanent magnet synchronous motor,a simulation platform which can be used to simulate the results of rotational inertia identification is built and its usability is verified.The identification algorithm used is analyzed and deduced,and the derived algorithm is derived.The weighted least squares method with exponential forgetting and the recursive formula of MRAS algorithm are simulated.The simulation experiment is carried out on the above parameter identification algorithm to verify the feasibility of the algorithm.The experimental platform based on EtherCAT protocol is built.The TwinCAT software controls and uses TwinCAT to interact with Simulink,which makes the calculation of the matrix in the identification process possible.Finally,the inertia identification experiment of the servo drive system is carried out on the test bench,and the load is used when loading and loading under different inputs.Weighted least squares with exponential forgetting MRAS algorithm and servo drive system inertia identification experiment,the test results show better recognition result exponential forgetting the weighted least squares method,and fast convergence,broader applicability,and can recognize more parameters.