饱和约束下交流伺服系统转动惯量的在线辨识  

Online Identification of Rotational Inertia of AC Servo System under Saturation Constraints

作　　者：曹聪 王孝四 朱璐 卢少武[1] CAO Cong;WANG Xiaosi;ZHU Lu;LU Shaowu(School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan Hubei 430081,China;Shandong Yiran Environmental Protection Technology Co.,Ltd.,Jinan Shandong 250200,China;Wuhan Donghu High Tech Group Co.,Ltd.,Wuhan Hubei 430076,China)

机构地区：[1]武汉科技大学信息科学与工程学院,湖北武汉430081 [2]山东一然环保科技有限公司,山东济南250200 [3]武汉东湖高新集团股份有限公司,湖北武汉430076

出　　处：《机床与液压》2024年第16期21-25,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51975430,51975433)。

摘　　要：在伺服系统运行过程中,系统饱和会影响观测器参数辨识的准确性。为了解决这个问题,提出一种抗饱和扩展状态观测器(ASESO)。建立单惯量伺服系统的数学模型,针对伺服系统饱和与未饱和2种情况,设计ASESO来在线辨识伺服系统的转动惯量与集总扰动,其中集总扰动用来对系统进行前馈补偿,削弱外部扰动对系统模型线性化的影响。与传统的ESO相比,ASESO在2种系统状态(饱和与未饱和)下有不同的观测器模型。当系统满足限制饱和条件(CSCs)时,观测器处于未饱和状态并实时更新转动惯量;相反,当系统进入饱和状态时,由于系统控制量变化很小,导致并不是所有的CSCs都满足,观测器不再更新转动惯量,保持前一时刻的识别值。最后利用Lyapunov理论验证了所设计方案的稳定性。仿真结果表明:所提方案在2种状态下均保证了转动惯量辨识的准确性。理论分析和仿真结果共同验证了ASESO与传统方法相比的优越性能。During the operation of the servo system,the accuracy of observer parameter identification is affect due to system saturation.To address this issue,an anti-saturation extended state observer(ASESO)was proposed.A mathematical model of single inertia servo system was established,and ASESO was designed to identify the rotational inertia and total disturbance of the servo system online for both saturated and unsaturated situations.Total disturbance was used to make a feedforward compensation for the system to mitigate the impact of external disturbance on the system model linearization.Compared with traditional ESO,ASESO has different observer models in two system states(saturated and unsaturated situations).When the updated system meets the constrained saturation conditions(CSCs),the observer is in an unsaturated state and the inertia moment is in real-time.On the contrary,when the system enters a saturated state,due to small change in the system control variables,not all CSCs is satisfied,and the observer no longer updates the inertia moment and maintains the previous recognition value.Finally,the stability of the designed scheme was verified using Lyapunov theory.The simulation results show that the proposed scheme can ensure the accuracy of inertia moment identification under two conditions.The theoretical analysis and simulation results jointly verify the superior performance of ASESO compared with the traditional method.

关 键 词：系统饱和 扩展状态观测器 惯量辨识 约束饱和条件 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]