交流伺服系统控制器在线参数自整定方法  

Auto Tuning Method of Servo Controller for AC Servo System

作　　者：徐勇 

机构地区：[1]施耐德电气(中国)有限公司上海分公司,上海201203

出　　处：《电机与控制应用》2017年第6期45-50,共6页Electric machines & control application

摘　　要：伺服系统转动惯量的变化会影响伺服控制性能。为提高伺服性能需要对转动惯量进行在线辨识,实现伺服控制器参数的在线自整定。详细介绍了基于模型参考自适应的转动惯量在线辨识方法,提出了动态调整自适应增益和滤波器时间的方法,有效解决了自适应算法辨识速度和辨识精度的矛盾。根据转动惯量的辨识结果,利用对称优化法则,实时调整伺服控制器参数,以保证控制器动态性能的一致性和鲁棒性。仿真和试验验证了方法的有效性。The inertia variation of the AC servo system highly influences the servo performance. In order to improve the dynamic performance of the servo system, it＇ s necessary to identify the system inertia and to auto tune servo controller at real time. On-line inertia identification method based on MRAS was introduced. A MRAS method with dynamic adaptive gain and filter time was presented to solve the contradiction between identification speed and accuracy. The symmetrical optimum method was used to tune the servo control loop automatically with the identified inertia. The consistent and robust performance of servo controller was obtained in this way. Simulation and experiment results showed the effectiveness of the proposed method.

关 键 词：交流伺服系统 转动惯量辨识 模型参考自适应 参数在线自整定 

分 类 号：TM301.2[电气工程—电机]