CN106998161A - The method for identification of rotational inertia and device of a kind of servo-drive system - Google Patents
The method for identification of rotational inertia and device of a kind of servo-drive system Download PDFInfo
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Abstract
The present invention is applied to servomotor technical field, and there is provided a kind of method for identification of rotational inertia of servo-drive system and device.This method includes：Obtain motor speed forward direction level off to zero when electromagnetic torque and motor speed reversely level off to zero when electromagnetic torque, computational load torque and static friction torque；In motor boost phase, the speed and electric current of the first starting velocity of sampling to motor between the first end speed；In decelerating through motor stage, the speed and electric current of the second starting velocity of sampling to motor between the second end speed；According to the rotary inertia of sampled in the motor boost phase obtained speed and electric current, sampled in the decelerating through motor stage obtained speed and electric current, and the load torque and the static friction torque calculating servo.The present invention can eliminate the influence of friction factor and speed factor to calculating rotary inertia, improve the identification precision of rotary inertia, and can reduce operand, improve identification efficiency.
Description
Technical field
The invention belongs to the method for identification of rotational inertia and dress of servomotor technical field, more particularly to a kind of servo-drive system
Put.
Background technology
With Power Electronic Technique, the development of electric machines control technology and the utilization of rare earth material, servomotor and servo are driven
Dynamic device more and more applies to the high-accuracy control industry such as Aero-Space, Digit Control Machine Tool, robot.Come for servo-drive system
Say, the rotary inertia of servo-drive system has very big influence for system.The rotary inertia of servo-drive system directly affects system
The control parameter of loop, inappropriate rotary inertia value can cause very big influence to servo-drive system, therefore, it is possible to distinguish exactly
The rotary inertia for knowing servo-drive system is significant for servo-drive system.
The method for identification of rotational inertia of current servo system mainly includes offline method for identification of rotational inertia and online rotation
Inertia identification method.Wherein, online inertia identification method typically uses least square method, adaptive approach, Kalman filtering side
Method scheduling algorithm carries out inertia identification.Often operand than larger, and is all based on the identification of model to online inertia identification method
Method, in model equivalent process, often ignores the influence of friction, and rub influences very big for whole servo-drive system,
Can not directly it ignore, therefore the rotary inertia picked out is not accurate enough.
The content of the invention
The purpose of the embodiment of the present invention is the provision of the method for identification of rotational inertia and device of a kind of servo-drive system, it is intended to
Solve current method for identification of rotational inertia calculating is not accurate enough and the problem of larger operand.
The embodiment of the present invention is achieved in that a kind of method for identification of rotational inertia of servo-drive system, including：
Obtain motor speed forward direction level off to zero when electromagnetic torque and motor speed reversely level off to zero when electromagnetism turn
Square, computational load torque and static friction torque；
In motor boost phase, the speed and electric current of the first starting velocity of sampling to motor between the first end speed；
Decelerating through motor stage, the speed and electric current of the second starting velocity of sampling to motor between the second end speed；
According to the speed and electric current obtained in motor boost phase sampling, in the decelerating through motor stage, sampling is obtained
Speed and electric current, and the load torque and the static friction torque calculating servo rotary inertia.
The another object of the embodiment of the present invention is to provide a kind of moment of inertia identification device of servo-drive system, including：
Processing unit, for obtain motor speed forward direction level off to zero when electromagnetic torque and motor speed reversely level off to
Electromagnetic torque when zero, computational load torque and static friction torque；
Sampling unit, in motor boost phase, the first starting velocity of sampling to motor between the first end speed
Speed and electric current；In decelerating through motor stage, the speed and electric current of the second starting velocity of sampling to motor between the second end speed；
The processing unit, is additionally operable to according to the speed and electric current obtained in motor boost phase sampling, described
Speed and electric current that the sampling of decelerating through motor stage is obtained, and the load torque and the static friction torque calculate servo system
The rotary inertia of system.
In the embodiment of the present invention, according to motor speed forward direction level off to zero when electromagnetic torque and the reverse convergence of motor speed
The torque of electromagnetic torque computational load and static friction torque when zero, sample motor boost phase and the speed in decelerating through motor stage
Degree and electric current, the influence of viscous friction coefficient is eliminated by the way that the equation of motion of double sampling is made the difference, and calculates rotary inertia.This hair
Bright embodiment can eliminate the influence of friction factor and speed factor to calculating rotary inertia, and the identification for improving rotary inertia is accurate
Degree, and operand can be reduced, improve identification efficiency.
Brief description of the drawings
Fig. 1 is the implementation process figure of the method for identification of rotational inertia of servo-drive system provided in an embodiment of the present invention；
Fig. 2 is that the motor of the method for identification of rotational inertia of servo-drive system provided in an embodiment of the present invention is positive with reverse convergence
The waveform diagram of speed and electric current when zero；
Fig. 3 is the motor boost phase and motor of the method for identification of rotational inertia of servo-drive system provided in an embodiment of the present invention
The sampling schematic diagram in decelerating phase；
Fig. 4 is the method for identification of rotational inertia of servo-drive system provided in an embodiment of the present invention to repeatedly obtaining rotary inertia
The implementation process figure averaged；
Fig. 5 is the structured flowchart of the moment of inertia identification device of servo-drive system provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Fig. 1 is the implementation process figure of the method for identification of rotational inertia of servo-drive system provided in an embodiment of the present invention, is described in detail such as
Under：
In S101, obtain motor speed forward direction level off to zero when electromagnetic torque and motor speed reversely level off to zero when
Electromagnetic torque, computational load torque and static friction torque.
In the present embodiment, forward and reverse rotation can be carried out respectively with controlled motor.As shown in Figure 2, it is preferable that first control
Motor processed is rotated forward, and speed is started from scratch and gradually increased, then it is zero to decelerate to speed；Controlled motor is rotated backward again, speed
Start from scratch and gradually increase, then it is zero to decelerate to speed.According to motor speed forward direction level off to zero when and motor speed reversely become
Electric current when being bordering on zero, with reference to motor other specification calculate motor speed forward direction level off to zero when electromagnetic torque and electricity
Machine velocity reversal level off to zero when electromagnetic torque.Resulting motor speed forward direction level off to zero when electromagnetic torque and motor
Velocity reversal level off to zero when electromagnetic torque be used for computational load torque and static friction torque.
As one embodiment of the present of invention, the process of the computational load torque and static friction torque can be specific
For：
Friction model is set up, is shown below：
F=Fcsgn(ω)+Bω (1)
Wherein, f is frictional force, FcSgn (ω) is coulomb friction, FcFor constant static friction torque, ω turns for motor
Dynamic speed, sgn (ω) is ω sign function, and B ω are viscous friction power, and B is viscous friction force coefficient.
The friction model is by coulomb friction and the equivalent structure of viscous friction power.Coulomb friction size is permanent
Fixed, direction is in opposite direction with motor operation.Its size of viscous friction power is directly proportional to motor speed, direction and motor operation direction
Conversely.Frictional force after equivalent can be expressed as the function of motor speed.
It is according to the equation of motion that the friction model of formula (1) can obtain motor
Wherein, J is rotary inertia, TeFor electromagnetic torque, TlFor load torque.
The equation of motion that can draw motor during motor convergence zero-speed according to the equation of motion of the motor of formula (2) is
T0=Tl+Fcsgn(ω) (3)
Wherein, T0The electromagnetic torque that motor is exported during for speed convergence zero.
Coulomb friction is relevant with direction when zero with the speed convergence that motor is rotated it can be seen from formula (3).Motor speed
Degree forward direction level off to zero when sgn (ω) value be+1, motor speed reversely level off to zero when sgn (ω) value be -1.
Therefore, according to formula (3) can draw motor speed forward direction level off to zero when the equation of motion and motor speed it is reverse
Level off to zero when the equation of motion, it is as follows：
Wherein, T0+For motor speed forward direction level off to zero when electromagnetic torque, T0-For motor speed forward direction level off to zero when
Electromagnetic torque.
The expression formula that can draw the load torque and the static friction torque according to formula (4) is respectively
According to formula (5) and formula (6), and the motor speed forward direction obtained before level off to zero when electromagnetic torque and motor
Velocity reversal level off to zero when electromagnetic torque, you can computational load torque and static friction torque.
In S102, in motor boost phase, the first starting velocity of sampling to first terminates the speed of motor between speed
And electric current；In decelerating through motor stage, the speed and electric current of the second starting velocity of sampling to motor between the second end speed.
In the present embodiment, by sample obtain the first starting velocity to first terminate speed between and the second starting velocity
To the speed and electric current between the second end speed, transported for the equation of motion to boost phase and decelerating phase motor
Calculate.In the sampling process in decelerating phase, judge that viscous friction integrated value is equal with boost phase viscous friction integrated value
When, terminate decelerating phase sampling.
As one embodiment of the present of invention, the first end speed is identical with second starting velocity；Described
The speed sum of motor boost phase sampling is equal with the speed sum sampled in the decelerating through motor stage.
In the present embodiment, the first end speed sampled in motor boost phase is equal to enter in the decelerating through motor stage
Second starting velocity of row sampling.It is equal in the speed sum of motor boost phase and double sampling stage in decelerating through motor stage.
Thus, when being made the difference to the integration types of two course movement equations, viscous friction force coefficient can be eliminated, makes the calculating of rotary inertia
As a result do not influenceed by viscous friction power, improve the identification precision of rotary inertia.
Preferably, to the first starting velocity in motor boost phase between the first end speed and in the decelerating through motor stage
Second starting velocity is identical to the sampling period sampled between the second end speed.As shown in figure 3, specific sampling process
Can be as follows：
Choose the first starting velocity and first and terminate speed.In motor boost phase, detection motor operation speed is brought up to
Start sampling during the first starting velocity, record the first starting velocity corresponding time.Motor operation speed is detected to bring up to
Terminate sampling during the first end speed, record the first end speed corresponding time.Obtain the sampling week in sampling process
Phase, number of samples, the speed of sampling and electric current.Calculate the speed sum of whole sampling process.
In the decelerating through motor stage, detection motor operation speed starts sampling when being reduced to the second starting velocity.Selected in this example
Take the second starting velocity to be equal to first and terminate speed, that is, when detection motor operation speed reduction is to the first end speed,
Reduce speed now the sampling in stage.Record the second starting velocity corresponding time.Sampling period in decelerating phase and boost phase
Sampling period is equal.In sampling process, the speed sum sampled is calculated.Accelerate when the speed sum sampled is equal to
During the speed sum of stage sampling, terminate sampling.The speed of record end sampling instant is the second end speed.Record the second knot
The Shu Sudu corresponding times.Obtain number of samples, the speed of sampling and electric current in sampling process.
In S103, according to the speed and electric current obtained in motor boost phase sampling, in the decelerating through motor rank
Speed and electric current that section sampling is obtained, and the rotation of the load torque and the static friction torque calculating servo are used to
Amount.
In the present embodiment, the sampling time by motor movement equation within the sampling time of boost phase with the decelerating phase
Inside carry out definite integral computing respectively, and speed according to sampling and the electromagnetic torque that calculates two definite integral are carried out respectively from
Dispersion.Equation after two definite integral discretizations is made the difference, you can obtain the expression formula of rotary inertia.According in the motor
The boost phase obtained speed of sampling and electric current, sampled in the decelerating through motor stage obtained speed and electric current, and it is described
Load torque and the static friction torque substitute into expression formula, you can calculate the value for obtaining rotary inertia.By two discretizations
Equation makes the difference, and can eliminate the continuous item that stagnant frictional force is stained with equation, eliminates viscous friction power to calculating rotary inertia
Influence, improves the accuracy in computation of rotary inertia.
As one embodiment of the present of invention, the process of the rotary inertia of calculating servo can be with specific as follows：
According to the equation of motion of formula (2) motor, definite integral computing is carried out within the sampling time of boost phase, can be obtained
The equation of motion after integration is as follows：
Wherein, t0For first starting velocity corresponding time, t1Terminate the speed corresponding time for described first.
The discretization equation formula of boost phase can be obtained by carrying out discretization to formula (7), as follows：
Wherein, ω0For first starting velocity, ω1Terminate speed, T for described firstsFor sampling period, N1For sampling
Number.
According to the equation of motion of formula (2) motor, definite integral is carried out within the sampling time in decelerating phase, can be integrated
The equation of motion afterwards is as follows：
Wherein, t2For second starting velocity corresponding time, t3Terminate the speed corresponding time for described second.
The discretization equation formula in decelerating phase can be obtained by carrying out discretization to formula (9), as follows：
Wherein, ω2For second starting velocity, ω3Terminate speed, T for described secondsFor sampling period, N2For sampling
Number.
The discretization equation formula in formula (10) decelerating phase is subtracted to the discretization equation formula of formula (8) boost phase.Because two
The speed sum of individual sample phase is equal, thus in formula (8) the viscous friction power of boost phase continuous itemWith
The continuous item of the viscous friction power in decelerating phase in formula (10)It is equal.Two formulas can eliminate viscous rub after making the difference
The continuous item of power is wiped, remaining item is can be according to the known item obtained, therefore can calculate the value of rotary inertia.
Formula (10) is subtracted into formula (8) and show that the expression formula of rotary inertia is：
According to formula (11), and the motor boost phase sample obtained speed and electric current, in the decelerating through motor rank
Speed and electric current that section sampling is obtained, and the load torque and the static friction torque, you can calculate rotation used
Amount.
, can be by the further abbreviation of formula (11) for convenience of calculating as one embodiment of the present of invention.Specifically can basis
Some carries out abbreviation below.
1. orderWherein TeSumFor the electromagnetism in boost phase sampling process
Torque sum, Te'SumFor the electromagnetic torque sum in decelerating phase sampling process.
2. because boost phase first terminates speed omega1More than the first starting speed omega0, the starting velocity of decelerating phase second
ω2Terminate speed omega more than second3, so ω2-ω3+ω1-ω0>0.The molecule denominator of formula (11) can be multiplied by -1 simultaneously,
Make molecule and denominator all be on the occasion of.
3.
4.t2-t3+t1-t0=(N1-N2)Ts。
Formula (11) abbreviation can be by some more than
As one embodiment of the present of invention, the value for obtaining multiple rotary inertias can be calculated by multiple repairing weld, then it is right
The value of multiple rotary inertias is averaged, to improve the identification precision of rotary inertia.As shown in figure 4, this method also includes：
In S401, multiple the first corresponding starting velocities and first are set to terminate speed and the second starting velocity
Terminate speed with second, speed and electric current to motor are sampled, calculate the rotary inertia.
In S402, averaged to repeatedly calculating the obtained rotary inertia, be used as the rotary inertia of servo-drive system.
In the present embodiment, multiple the first different starting velocities and first can be set to terminate in same boost phase
Speed is sampled, and different the second starting velocity is correspondingly arranged in the decelerating phase and the second end speed is sampled.That is root
According to one group of corresponding ω0、ω1、ω2、ω3It can sample and obtain one group of sampled data calculating rotary inertia, according to the multigroup of setting
Corresponding ω0、ω1、ω2、ω3It can sample and obtain multigroup sampled data.Multiple rotations are calculated by multigroup sampled data
The value of inertia, then these values are averaged, it is used as the rotary inertia of servo-drive system.Calculate what is averaged by multiple repairing weld
Mode, improves the identification precision of rotary inertia.
The discrimination method can online under real-time identification friction speed rotary inertia, carried out to rotating variable identification result
Moving average processing, the rotary inertia value averaged as identification.The speed that can be changed according to actual rotation inertia is selected
Corresponding moving average window size.Moving average window is bigger, and the number for carrying out average rotary inertia is more.Actual rotation
Inertia change can select less moving average window value when fast；Actual inertia can select larger slip to put down when changing slow
Equal window value.So meet the requirement to the identification of rotational inertia degree of accuracy under friction speed.
Using the discrimination method, inertia identification is carried out in actual servo system.In the case of constant load, give different
The rotary inertia deviation recognized during Acceleration and deceleration time is within 10%.In addition, in the given interference feelings changed with motor speed
Under condition, the discrimination method is also capable of the rotary inertia of more accurately identification system.
In the embodiment of the present invention, according to motor speed forward direction level off to zero when electromagnetic torque and the reverse convergence of motor speed
The torque of electromagnetic torque computational load and static friction torque when zero, sample motor boost phase and the speed in decelerating through motor stage
Degree and electric current, the influence of viscous friction coefficient is eliminated by the way that the equation of motion of double sampling is made the difference, and calculates rotary inertia.This hair
Bright embodiment can eliminate the influence of friction factor and speed factor to calculating rotary inertia, and the identification for improving rotary inertia is accurate
Degree, and operand can be reduced, improve identification efficiency.
It should be understood that in embodiments of the present invention, the size of the sequence number of above-mentioned each process is not meant to the elder generation of execution sequence
Afterwards, the execution sequence of each process should be determined with its function and internal logic, the implementation process structure without tackling the embodiment of the present invention
Limited into any.
Corresponding to the method for identification of rotational inertia of the servo-drive system described in foregoing embodiments, Fig. 5 shows implementation of the present invention
The structured flowchart of the moment of inertia identification device for the servo-drive system that example is provided.For convenience of description, it illustrate only and the present embodiment
Related part.
Reference picture 5, the device includes processing unit 51 and sampling unit 52.
Processing unit 51, for obtain motor speed forward direction level off to zero when electromagnetic torque and the reverse convergence of motor speed
Electromagnetic torque when zero, computational load torque and static friction torque.
Sampling unit 52, in motor boost phase, the first starting velocity of sampling to first to terminate motor between speed
Speed and electric current；In decelerating through motor stage, the speed and electricity of the second starting velocity of sampling to motor between the second end speed
Stream.
The processing unit 51, is additionally operable to according to the speed and electric current obtained in motor boost phase sampling, in institute
Speed and electric current that the sampling of decelerating through motor stage is obtained are stated, and the load torque and the static friction torque calculate servo
The rotary inertia of system.
Preferably, the processing unit 51 obtain motor speed forward direction level off to zero when electromagnetic torque and motor speed it is anti-
To level off to zero when electromagnetic torque, and the process of computational load torque and static friction torque is：
Set up friction model f=Fcsgn(ω)+Bω；Wherein, f is frictional force, FcSgn (ω) is coulomb friction, FcFor
Constant static friction torque, ω is the speed that motor is rotated, and sgn (ω) is ω sign function, and B ω are viscous friction power, B
For viscous friction force coefficient；
The equation of motion of motor is obtained according to the friction modelWherein,
J is rotary inertia, TeFor electromagnetic torque, TlFor load torque；
The equation of motion for drawing motor during convergence zero-speed is T0=Tl+Fcsgn(ω)；Wherein, T0During for speed convergence zero
The electromagnetic torque of motor output；
According to the equation of motion of motor during convergence zero-speed, show that the load torque isThe storehouse
Logical sequence moment of friction isWherein, T0+For motor speed forward direction level off to zero when electromagnetic torque, T0-For motor
Speed forward direction level off to zero when electromagnetic torque.
Preferably, the first end speed is identical with second starting velocity；In motor boost phase sampling
Speed sum it is equal with the speed sum sampled in the decelerating through motor stage.
Preferably, the processing unit 51 is according to the speed and electric current obtained in motor boost phase sampling, in institute
Speed and electric current that the sampling of decelerating through motor stage is obtained are stated, and the load torque and the static friction torque calculate servo
The process of the rotary inertia of system is：
According to the speed and electric current, the load torque and the static friction obtained in motor boost phase sampling
Torque, draws：
Wherein, ω0For first starting velocity, t0For first starting velocity corresponding time, ω1For described
One terminates speed, t1Terminate speed corresponding time, T for described firstsFor sampling period, N1For number of samples；
According to the obtained speed and electric current, the load torque and the static friction of being sampled in the decelerating through motor stage
Torque, draws：
Wherein, ω2For second starting velocity, t2For second starting velocity corresponding time, ω3For described
Two terminate speed, t3Terminate speed corresponding time, T for described secondsFor sampling period, N2For number of samples；
Show that the rotary inertia is：
Preferably, the sampling unit 52, is additionally operable to multiple corresponding the first starting velocities and first according to setting
Terminate speed and the second starting velocity and second and terminate speed, speed and electric current to motor are sampled；
The processing unit 51 is additionally operable to the speed and electric current of the motor obtained according to the multiple repairing weld of sampling unit 52,
And the load torque and the static friction torque calculate the rotary inertia, and to repeatedly calculating the obtained rotation
Inertia is averaged, and is used as the rotary inertia of the servo-drive system.
In the embodiment of the present invention, according to motor speed forward direction level off to zero when electromagnetic torque and the reverse convergence of motor speed
The torque of electromagnetic torque computational load and static friction torque when zero, sample motor boost phase and the speed in decelerating through motor stage
Degree and electric current, the influence of viscous friction coefficient is eliminated by the way that the equation of motion of double sampling is made the difference, and calculates rotary inertia.This hair
Bright embodiment can eliminate the influence of friction factor and speed factor to calculating rotary inertia, and the identification for improving rotary inertia is accurate
Degree, and operand can be reduced, improve identification efficiency.
It is apparent to those skilled in the art that, for convenience of description and succinctly, only with above-mentioned each work(
Energy unit, the division progress of module are for example, in practical application, as needed can distribute above-mentioned functions by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit, it is above-mentioned integrated
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.In addition, each function list
Member, the specific name of module are also only to facilitate mutually differentiation, is not limited to the protection domain of the application.Said system
The specific work process of middle unit, module, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
, can be by it in several embodiments provided by the present invention, it should be understood that disclosed apparatus and method
Its mode is realized.For example, system embodiment described above is only schematical, for example, the module or unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, such as multiple units or component
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, the technical scheme of the embodiment of the present invention
The part substantially contributed in other words to prior art or all or part of the technical scheme can be with software products
Form embody, the computer software product is stored in a storage medium, including some instructions are to cause one
Computer equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform this hair
The all or part of step of each embodiment methods described of bright embodiment.And foregoing storage medium includes：USB flash disk, mobile hard disk,
Read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random AccessMemory), magnetic disc
Or CD etc. is various can be with the medium of store program codes.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied the present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed
Or replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme, all should
Within protection scope of the present invention.
Claims (10)
1. a kind of method for identification of rotational inertia of servo-drive system, it is characterised in that including：
Obtain motor speed forward direction level off to zero when electromagnetic torque and motor speed reversely level off to zero when electromagnetic torque, meter
Calculate load torque and static friction torque；
In motor boost phase, the speed and electric current of the first starting velocity of sampling to motor between the first end speed；In motor
Decelerating phase, the speed and electric current of the second starting velocity of sampling to motor between the second end speed；
The speed obtained according to the speed and electric current obtained in motor boost phase sampling, in decelerating through motor stage sampling
Degree and electric current, and the load torque and the static friction torque calculating servo rotary inertia.
2. the method for identification of rotational inertia of servo-drive system according to claim 1, it is characterised in that the computational load turns
The process of square and static friction torque is specially：
Set up friction model f=Fcsgn(ω)+Bω；Wherein, f is frictional force, FcSgn (ω) is coulomb friction, FcTo be constant
Static friction torque, ω be motor rotate speed, sgn (ω) be ω sign function, B ω be viscous friction power, B is viscous
Stagnant friction coefficient；
The equation of motion of motor is obtained according to the friction modelWherein, J is
Rotary inertia, TeFor electromagnetic torque, TlFor load torque；
The equation of motion for drawing motor during convergence zero-speed is T0=Tl+Fcsgn(ω)；Wherein, T0Motor during for speed convergence zero
The electromagnetic torque of output；
According to the equation of motion of motor during convergence zero-speed, show that the load torque isThe coulomb rubs
Wiping torque isWherein, T0+For motor speed forward direction level off to zero when electromagnetic torque, T0-For motor speed
Forward direction level off to zero when electromagnetic torque.
3. the method for identification of rotational inertia of servo-drive system according to claim 1, it is characterised in that described first terminates speed
Degree is identical with second starting velocity；In the speed sum of motor boost phase sampling and in the decelerating through motor stage
The speed sum of sampling is equal.
4. the method for identification of rotational inertia of servo-drive system according to claim 1, it is characterised in that the basis is described
The motor boost phase obtained speed of sampling and electric current, sampled in the decelerating through motor stage obtained speed and electric current, and
The rotary inertia of the load torque and the static friction torque calculating servo is specially：
According to the speed and electric current, the load torque and the coulomb friction obtained in motor boost phase sampling
Square, draws：
Wherein, ω0For first starting velocity, t0For first starting velocity corresponding time, ω1For first knot
Shu Sudu, t1Terminate speed corresponding time, T for described firstsFor sampling period, N1For number of samples；
According to the obtained speed and electric current, the load torque and the coulomb friction of being sampled in the decelerating through motor stage
Square, draws：
Wherein, ω2For second starting velocity, t2For second starting velocity corresponding time, ω3For second knot
Shu Sudu, t3Terminate speed corresponding time, T for described secondsFor sampling period, N2For number of samples；
Show that the rotary inertia is：
5. the method for identification of rotational inertia of servo-drive system according to claim 1, it is characterised in that also include：
Multiple the first corresponding starting velocities and first are set to terminate speed and the second starting velocity and the second end speed
Degree, speed and electric current to motor are sampled, and calculate the rotary inertia；
Averaged to repeatedly calculating the obtained rotary inertia, be used as the rotary inertia of the servo-drive system.
6. a kind of moment of inertia identification device of servo-drive system, it is characterised in that including：
Processing unit, for obtain motor speed forward direction level off to zero when electromagnetic torque and motor speed reversely level off to zero when
Electromagnetic torque, computational load torque and static friction torque；
Sampling unit, in motor boost phase, the first starting velocity of sampling to first to terminate the speed of motor between speed
And electric current；In decelerating through motor stage, the speed and electric current of the second starting velocity of sampling to motor between the second end speed；
The processing unit, is additionally operable to according to the speed and electric current obtained in motor boost phase sampling, in the motor
The decelerating phase obtained speed of sampling and electric current, and the load torque and the static friction torque calculating servo
Rotary inertia.
7. the moment of inertia identification device of servo-drive system according to claim 6, it is characterised in that the processing unit is obtained
Take motor speed forward direction level off to zero when electromagnetic torque and motor speed reversely level off to zero when electromagnetic torque, and calculate negative
The process of set torque and static friction torque is：
Set up friction model f=Fcsgn(ω)+Bω；Wherein, f is frictional force, FcSgn (ω) is coulomb friction, FcTo be constant
Static friction torque, ω be motor rotate speed, sgn (ω) be ω sign function, B ω be viscous friction power, B is viscous
Stagnant friction coefficient；
The equation of motion of motor is obtained according to the friction modelWherein, J is
Rotary inertia, TeFor electromagnetic torque, TlFor load torque；
The equation of motion for drawing motor during convergence zero-speed is T0=Tl+Fcsgn(ω)；Wherein, T0Motor during for speed convergence zero
The electromagnetic torque of output；
According to the equation of motion of motor during convergence zero-speed, show that the load torque isThe coulomb rubs
Wiping torque isWherein, T0+For motor speed forward direction level off to zero when electromagnetic torque, T0-For motor speed
Forward direction level off to zero when electromagnetic torque.
8. the moment of inertia identification device of servo-drive system according to claim 6, it is characterised in that described first terminates speed
Degree is identical with second starting velocity；In the speed sum of motor boost phase sampling and in the decelerating through motor stage
The speed sum of sampling is equal.
9. the moment of inertia identification device of servo-drive system according to claim 6, it is characterised in that the processing unit root
According to the speed and electric current obtained in motor boost phase sampling, sampled in the decelerating through motor stage obtained speed and electricity
Flow, and the process of the rotary inertia of the load torque and the static friction torque calculating servo is：
According to the speed and electric current, the load torque and the coulomb friction obtained in motor boost phase sampling
Square, draws：
Wherein, ω0For first starting velocity, t0For first starting velocity corresponding time, ω1For first knot
Shu Sudu, t1Terminate speed corresponding time, T for described firstsFor sampling period, N1For number of samples；
According to the obtained speed and electric current, the load torque and the coulomb friction of being sampled in the decelerating through motor stage
Square, draws：
Wherein, ω2For second starting velocity, t2For second starting velocity corresponding time, ω3For second knot
Shu Sudu, t3Terminate speed corresponding time, T for described secondsFor sampling period, N2For number of samples；
Show that the rotary inertia is：
10. the moment of inertia identification device of servo-drive system according to claim 6, it is characterised in that the sampling unit,
It is additionally operable to terminate speed and the second starting velocity and second according to multiple the first corresponding starting velocities of setting and first
Terminate speed, speed and electric current to motor are sampled；
The processing unit, is additionally operable to the speed of motor and the electric current obtained according to the sampling unit multiple repairing weld, Yi Jisuo
State load torque and the static friction torque calculates the rotary inertia, and taken to repeatedly calculating the obtained rotary inertia
Average value, is used as the rotary inertia of the servo-drive system.
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