CN101231207A - Method for identification of rotational inertia of AC servo - Google Patents
Method for identification of rotational inertia of AC servo Download PDFInfo
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- CN101231207A CN101231207A CNA2008100187830A CN200810018783A CN101231207A CN 101231207 A CN101231207 A CN 101231207A CN A2008100187830 A CNA2008100187830 A CN A2008100187830A CN 200810018783 A CN200810018783 A CN 200810018783A CN 101231207 A CN101231207 A CN 101231207A
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Abstract
The invention relates to a rotary inertia identification method of an alternating-current servomechanism, the load inertia and the rotor inertia of a motor are regarded as a whole inertia, a servo system does an accelerated motion and a decelerated motion, so as to obtain the system output torque and the motor average rotate speed for a period of time. The average torque of the servo system can be obtained by the system output torque, the value of the whole inertia can be obtained according to the motor average rotate speed, the average torque of the servo system, and the total operation time of the accelerated motion and the decelerated motion of the system, that is, the rotary inertia of the alternating-current servomechanism can be identified. The invention does not need to singly identify the load inertia or the load torque for identifying the system rotary inertia, but causes the load inertia and the motor rotary inertia to be regarded as an inertia, and the identification of the system rotary inertia can be realized by combining the system output torque. The implementation of the method is simple, the use is convenient, the identified inertia precision is higher, and the method can be applied to the servo system inertia detection of a permanent magnetism synchronous servo-actuator.
Description
Technical field
The present invention says the motion control with AC servo, is specially a kind of inertia identification method of AC servo.
Background technology
Continuous development along with modernization industry, the application of AC servo control system more and more widely, and high performance totally digitilized servo-control system is the trend of contemporary AC servo control system development, this system is widely used in high-precision numerical control machine, robot, special process equipment and the fine feed system, therefore also more and more higher to its performance demands, especially in military domain and robot system, require that servo-control system has at a high speed, high precision, high reliability and high anti-jamming capacity.Owing to integrate the high-speed computation ability and, progressively become the main flow of AC servo control system based on the permagnetic synchronous motor AC servo control system of DSP towards the application of the digital signal processing chip DSP of the efficient control ability of motor.The serviceability of AC servo is subjected to the influence of the parameter of electric machine and load disturbance very big, especially moment of inertia, the increase of moment of inertia will cause the system dynamics response slack-off, can cause tangible influence to the mechanical property of system, therefore control system is necessary its moment of inertia is carried out identification, and take appropriate measures system is effectively controlled, but the moment of inertia of an object is to be difficult to the non-electric physical quantity directly measured.
The moment of inertia of AC servo comprises the rotor inertia of load inertia and motor, because the moment of inertia of motor and load torque be in same mechanical motion equation, i.e. and the equation of motion of motor:
Tm wherein: motor torque; T
L: load torque; J: system's moment of inertia; ω m: motor angular velocity
And load torque is the same with moment of inertia, also is a non-electric physical quantity that is difficult to direct measurement, has to be identified, and the moment of inertia of motor is only relevant with the equation of motion of motor, therefore, under the ignorant situation of load torque, on-line identification system moment of inertia is difficulty relatively.
Summary of the invention
The technical problem to be solved in the present invention is: AC servo control system needs the moment of inertia of identification system, and system's moment of inertia is the non-electric physical quantity that can't directly measure, and on-line identification is difficulty relatively.
Technical scheme of the present invention is: the method for identification of rotational inertia of AC servo, regard the rotor inertia of load inertia and motor as a whole inertia, servo-drive system is carried out acceleration and deceleration motion, draw system's output torque and motor mean speed in this section period, obtain the servo-drive system average torque by system's output torque, again according to T.T. of motor mean speed, servo-drive system average torque and system's acceleration and deceleration operation, obtain the value of described whole inertia, promptly pick out the moment of inertia of AC servo.
In most of occasions, the load inertia value is several times to tens times of rotor self moment of inertia, even tens times, and permagnetic synchronous motor PMSM has good torque performance and dynamic response, its dynamic response mainly is subjected to the influence of load inertia, therefore when the identification system moment of inertia, can regard the rotor inertia of load inertia and motor as a whole inertia, by system's output torque and acceleration and deceleration time relation, obtain the value of this whole inertia, realize the identification of moment of inertia, according to this inertia numerical value servo parameter is adjusted accordingly then, thereby reach optimum control.
Specific implementation step of the present invention is:
1) system is servo enables, and sets the acceleration, deceleration process time, and two times of acceleration, deceleration equate;
2) set the top speed of motor acceleration and the top speed in the motor accelerator;
3) set the acceleration and deceleration cycle index;
4) begin to carry out the system inertia identification, motor quickens operation with an acceleration time constant, arrives the top speed of setting after the acceleration time of setting;
5) with one time deceleration time constant run slowly, setting-up time arrives rear motor speed and is kept to 0 rev/min;
6) adding.Subtract in the operational process, carry out the detection of an output current, and this electric current is stored in the electric current register every the unit interval of setting-up time;
7) judge the acceleration and deceleration motion number of times,, then enter flow process 4 if circulation does not reach the number of times of setting), if cycle index reaches, then enter flow process 8);
8) data according to the electric current register obtained in the circular flow time of setting, and driver outputs to the total current of motor;
9) relation according to driver output total current and torque obtains system's output torque:
System's output torque=output current * moment coefficient
Moment coefficient can draw by tabling look-up;
10) according to flow process 9) the output torque of the system that obtains and system's operation T.T., obtain the servo-drive system average torque;
11) according to acceleration time and the speed set, obtain the mean speed in system's operational process;
12) regard the rotor inertia of load inertia and motor as a whole inertia, carry out time of acceleration and deceleration motion, obtain the value of whole inertia, promptly pick out the moment of inertia of AC servo according to motor mean speed, servo-drive system average torque and system:
In the formula:
N
m: motor mean speed (r/min)
J
M: the rotor inertia (Kgm of motor
2)
J
L: load inertia ((Kgm
2))
T
m: servo-drive system average torque (Nm)
t
r: the T.T. (s) of system's acceleration and deceleration operation
According to detected inertia, the AC servo control system automatic or manual carries out the adjustment of servo-driver parameter at last.
The present invention does not need independent identification load inertia or load torque to come the identification system moment of inertia, but regard load inertia and motor moment of inertia as an amount, the output torque of coupling system, the identification of realization system moment of inertia, the method realizes simple, easy to use, the inertia degree of accuracy that picks out is higher, and the servo-drive system inertia that this method can be used for permanent magnet synchronous servo motor detects.
Description of drawings
Fig. 1 is the inventive method based on the realization block diagram in the AC servo control system of DSP.
Fig. 2 is the comparison diagram of the moment of inertia value and the actual rotation inertia value of the inventive method identification.
Embodiment
The present invention regards the rotor inertia of load inertia and motor as a whole inertia, in the AC servo operational process, when having only rotating speed of motor to change, identification to moment of inertia is only significant, therefore servo-drive system is carried out acceleration and deceleration motion, draw system's output torque and motor mean speed in this section period, obtain the servo-drive system average torque by system's output torque, again according to the motor mean speed, the T.T. of servo-drive system average torque and system's acceleration and deceleration operation, obtain the value of described whole inertia, the moment of inertia of identification AC servo.
Below in conjunction with specific embodiment explanation the inventive method.Fig. 1 is the inventive method based on the realization block diagram in the AC servo control system of DSP, wherein space vector pulse width modulation module SVPWM (Space Vector Pulse WidthModulation) and the insulation three bipolar-type power pipe IGBT (Insulated Gate Bipolar Transistor), all be used for voltage modulated, drive motor; Motor is permagnetic synchronous motor PMSM; The speed control Control Servo System is done acceleration and deceleration motion; Current controller control system electric current; The abc-dq module is used for intrasystem coordinate transform with the dq-abc module: the abc-dq module becomes data under the two-phase rest frame to the data-switching under the three-phase rotating coordinate system, and the dq-abc module becomes data under the three-phase rotating coordinate system to the data-switching under the two-phase rest frame; Code-disc is the operational module that system's operation is set, and system operational parameters is sent to rotating speed, position computation module, obtains the motor mean speed; The inertia identification module is carried out identification to system inertia according to motor mean speed, system power and system's acceleration and deceleration operation T.T., and data are fed back to system, control system adjusts accordingly systematic parameter according to this inertia numerical value, thereby reaches optimum control:
1) remove the control system counter values, system is servo to enable;
2) setting the accelerator time is 500ms, sets moderating process time 500ms, and these two times equate;
3) top speed of setting motor accelerator is 1000 rev/mins, and top speed is 1000 rev/mins in the motor accelerator;
4) setting the acceleration and deceleration cycle index is 4 times;
5) begin to carry out the system inertia identification, motor carries out 500ms and quickens operation, behind the 500ms to 1000 rev/mins;
6) carry out 500ms then and run slowly, 500ms rear motor speed is kept to 0 rev/min;
7) in above-mentioned operational process, carry out the detection of an output current every 1ms, and this electric current is stored in the electric current register;
8) judge the acceleration and deceleration motion number of times,, then enter flow process 5 if circulation does not reach 4 times), if cycle index reaches 4 times, then enter next flow process;
9), obtain outputing to the total current of motor at 4 circular flow time inner drivers according to the data of electric current register;
10) relation according to driver output total current and motor torque obtains exporting torque:
System's output torque=output current * moment coefficient
Moment coefficient draws by tabling look-up;
11) system is 4 * 500ms * 2=4s total working time, according to the output torque sum that flow process 10 obtains, obtains the average torque of motor output in 4s;
12) according to the time of setting, obtain in system's operational process, average velocity is 500 rev/mins;
13) regard the rotor inertia of load inertia and motor as a whole inertia, carry out the time of acceleration and deceleration motion according to motor mean speed, servo-drive system average torque and system, obtain the value of whole inertia, promptly pick out the moment of inertia of AC servo, comprise load inertia and rotor inertia:
In the formula:
N
m: motor mean speed (r/min)
J
M: the rotor inertia (Kgm of motor
2)
J
L: load inertia ((Kgm
2))
T
m: servo-drive system average torque (Nm)
t
r: the T.T. (s) of system's acceleration and deceleration operation;
14) according to the inertia that picks out, determine whether to carry out the adjustment of servo-driver parameter.
The servo-drive system inertia that the inventive method can be used for permagnetic synchronous motor detects, with a known inertia object as load, as disk, its inertia numerical value can be calculated, carrying out inertia then detects, Fig. 2 is the comparison diagram of the moment of inertia value and the actual rotation inertia value of the inventive method identification, and as can be seen, the identification degree of accuracy of the inventive method is higher.
Claims (3)
1. the method for identification of rotational inertia of AC servo, it is characterized in that regarding the rotor inertia of load inertia and motor as a whole inertia, servo-drive system is carried out acceleration and deceleration motion, draw system's output torque and motor mean speed in this section period, obtain the servo-drive system average torque by system's output torque, according to the T.T. of motor mean speed, servo-drive system average torque and system's acceleration and deceleration operation, obtain the value of described whole inertia again, promptly pick out the moment of inertia of AC servo.
2. the method for identification of rotational inertia of AC servo according to claim 1 is characterized in that the specific implementation step is:
1) system is servo enables, and sets the acceleration, deceleration process time, and two times of acceleration, deceleration equate;
2) set the top speed of motor acceleration and the top speed in the motor accelerator;
3) set the acceleration and deceleration cycle index;
4) begin to carry out the system inertia identification, motor quickens operation with an acceleration time constant, arrives the top speed of setting after the acceleration time of setting;
5) with one time deceleration time constant run slowly, setting-up time arrives rear motor speed and is kept to 0 rev/min;
6) adding, subtracting in the operational process, carrying out the detection of an output current, and this electric current is being stored in the electric current register every the unit interval of setting-up time;
7) judge the acceleration and deceleration motion number of times,, then enter flow process 4 if circulation does not reach the number of times of setting), if cycle index reaches, then enter flow process 8);
8) data according to the electric current register obtained in the circular flow time of setting, and driver outputs to the total current of motor;
9) relation according to driver output total current and torque obtains system's output torque:
System's output torque=output current * moment coefficient
Moment coefficient can draw by tabling look-up;
10) according to flow process 9) the output torque of the system that obtains and system's operation T.T., obtain the servo-drive system average torque;
11) according to acceleration time and the speed set, obtain the mean speed in system's operational process;
12) regard the rotor inertia of load inertia and motor as a whole inertia, carry out time of acceleration and deceleration motion, obtain the value of whole inertia, promptly pick out the moment of inertia of AC servo according to motor mean speed, servo-drive system average torque and system:
In the formula:
N
m: motor mean speed (r/min)
J
M: the rotor inertia (Kgm of motor
2)
J
L: load inertia ((Kgm
2))
T
m: servo-drive system average torque (Nm)
t
r: the T.T. (s) of system's acceleration and deceleration operation.
3. the method for identification of rotational inertia of AC servo according to claim 1 and 2 is characterized in that being applied to the permagnetic synchronous motor system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100187830A CN101231207A (en) | 2008-01-24 | 2008-01-24 | Method for identification of rotational inertia of AC servo |
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|---|---|---|---|
| CNA2008100187830A CN101231207A (en) | 2008-01-24 | 2008-01-24 | Method for identification of rotational inertia of AC servo |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101699763B (en) * | 2009-09-11 | 2011-09-14 | 上海新时达电气股份有限公司 | Rotary inertia identification method for permanent magnet synchronous motor AC servo system |
| CN101753094B (en) * | 2008-12-16 | 2012-06-20 | 发那科株式会社 | Inertia estimating controller and control system |
| CN102539070A (en) * | 2010-12-30 | 2012-07-04 | 深圳市正弦电气有限公司 | Method and system for identifying rotational inertia of alternating current servo system |
| CN103227611A (en) * | 2013-03-27 | 2013-07-31 | 华为技术有限公司 | Mechanical inertia identification method and device, and motor speed regulation system |
| CN104155552A (en) * | 2014-08-12 | 2014-11-19 | 北京天拓四方科技有限公司 | Electrical parameter measuring method for mechanical rotary inertia |
| CN104596702A (en) * | 2014-12-23 | 2015-05-06 | 北京首钢股份有限公司 | Measurement method for inherent rotational inertia |
| CN105471353A (en) * | 2015-11-24 | 2016-04-06 | 珠海格力电器股份有限公司 | Method and device for identifying rotational inertia of servo motor |
| CN107834937A (en) * | 2017-11-09 | 2018-03-23 | 上海辛格林纳新时达电机有限公司 | Method for identification of rotational inertia and system |
| CN108637490A (en) * | 2018-04-10 | 2018-10-12 | 上海柏楚电子科技股份有限公司 | A kind of double methods for driving laser cutting machine load inertia and moment of friction of automatic measurement |
| CN109510543A (en) * | 2018-12-17 | 2019-03-22 | 南京埃斯顿自动化股份有限公司 | A kind of measuring method of servo motor load inertia |
| CN110554312A (en) * | 2018-05-31 | 2019-12-10 | 长城汽车股份有限公司 | Motor detection method, device and system |
| CN111464097A (en) * | 2020-04-03 | 2020-07-28 | 华南理工大学 | Method for identifying rotational inertia of permanent magnet synchronous motor offline |
-
2008
- 2008-01-24 CN CNA2008100187830A patent/CN101231207A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101753094B (en) * | 2008-12-16 | 2012-06-20 | 发那科株式会社 | Inertia estimating controller and control system |
| CN101699763B (en) * | 2009-09-11 | 2011-09-14 | 上海新时达电气股份有限公司 | Rotary inertia identification method for permanent magnet synchronous motor AC servo system |
| CN102539070A (en) * | 2010-12-30 | 2012-07-04 | 深圳市正弦电气有限公司 | Method and system for identifying rotational inertia of alternating current servo system |
| CN103227611A (en) * | 2013-03-27 | 2013-07-31 | 华为技术有限公司 | Mechanical inertia identification method and device, and motor speed regulation system |
| CN104155552A (en) * | 2014-08-12 | 2014-11-19 | 北京天拓四方科技有限公司 | Electrical parameter measuring method for mechanical rotary inertia |
| CN104155552B (en) * | 2014-08-12 | 2017-03-15 | 北京天拓四方科技有限公司 | A kind of measurement of electric parameter method of mechanical rotation inertia |
| CN104596702A (en) * | 2014-12-23 | 2015-05-06 | 北京首钢股份有限公司 | Measurement method for inherent rotational inertia |
| CN105471353B (en) * | 2015-11-24 | 2018-11-09 | 珠海格力智能装备技术研究院有限公司 | Method and device for identifying rotational inertia of servo motor |
| CN105471353A (en) * | 2015-11-24 | 2016-04-06 | 珠海格力电器股份有限公司 | Method and device for identifying rotational inertia of servo motor |
| CN107834937A (en) * | 2017-11-09 | 2018-03-23 | 上海辛格林纳新时达电机有限公司 | Method for identification of rotational inertia and system |
| CN108637490A (en) * | 2018-04-10 | 2018-10-12 | 上海柏楚电子科技股份有限公司 | A kind of double methods for driving laser cutting machine load inertia and moment of friction of automatic measurement |
| CN108637490B (en) * | 2018-04-10 | 2020-05-29 | 上海柏楚电子科技股份有限公司 | Method for automatically measuring load inertia and friction moment of double-drive laser cutting machine |
| CN110554312A (en) * | 2018-05-31 | 2019-12-10 | 长城汽车股份有限公司 | Motor detection method, device and system |
| CN110554312B (en) * | 2018-05-31 | 2022-06-14 | 长城汽车股份有限公司 | Motor detection method, device and system |
| CN109510543A (en) * | 2018-12-17 | 2019-03-22 | 南京埃斯顿自动化股份有限公司 | A kind of measuring method of servo motor load inertia |
| CN109510543B (en) * | 2018-12-17 | 2021-04-23 | 南京埃斯顿自动化股份有限公司 | Method for measuring load inertia of servo motor |
| CN111464097A (en) * | 2020-04-03 | 2020-07-28 | 华南理工大学 | Method for identifying rotational inertia of permanent magnet synchronous motor offline |
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Open date: 20080730 |