Alternating-current servo system speed loop controller parameter self-tuning method

Abstract

The invention discloses an alternating-current servo system speed loop controller parameter self-tuning method. The method includes firstly: identifying rotational inertia of a current system from feedback signals of electric current and feedback signals of rotational speed on the basis of a model reference adaptive identification mechanism; then determining performance indexes according to actual dynamic requirements and output performance of an actuator; finally calculating optimal controller parameters according to estimated values of the rotational inertia of the current system and the performance indexes. The method is simple to implement, less in parameter adjustment, high in universality, good in adaptation for the situation of greater change of working condition (the rotational inertia), capable of meeting application requirements in the high-performance permanent magnet synchronous motor alternating-current servo field and applicable to the situation of dramatic change of the working condition (the rotation inertia).

Description

technical field [0001] The invention relates to a servo motor system, in particular to a parameter self-tuning method for a speed loop controller of an AC servo system of a permanent magnet synchronous motor based on inertia identification and optimal control. Background technique [0002] With the development of modern science and technology, especially the development of modern power electronics technology and motor control theory, the AC servo system is replacing the traditional DC servo system and becoming the mainstream of development. The AC servo system gradually has excellent technical performances such as wide speed regulation, high steady-state accuracy, fast dynamic response and four-quadrant operation, and is widely used in occasions requiring high control performance such as robots, aerospace, and CNC machine tools. [0003] At present, the permanent magnet synchronous motor AC servo speed control system mostly adopts the structure of double closed-loop vector c...

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Problems solved by technology

The literature (Harbin Institute of Technology. On-line identification method for moment of inertia of AC permanent magnet synchronous motor servo system: China, CN201310087944.2[P].2013-7-24) uses recursive least squares method to identify inertia, but this inertia The identification method requires an additional identification of the load disturbance torque, and the overall identification algorithm structure is complex

Literature (Guo Yujie, Huang Lipei, Qiu Yang. Moment of inertia identification of AC servo system and regulator parameter self-tuning [J]. Journal of Tsinghua University (Natural Science Edition), 2002, 09:1180-1183) through the rotation of AC servo system The inertia is identified online, and the controller parameters are adjusted to improve the dynamic performance of the system. However, the speed loop controller still uses the PI algorithm, without considering the influence of the control variable limit on performance.

Literature (Li Liangliang, He Yong, Ye Haixiang, etc. Vector control simulation of permanent magnet synchronous motor based on ITAE optimal control [J]. Motor and Control Application, 2011,38(6):31-33,45) using ITAE performance index to The PI parameters of the speed loop are adjusted, but the ITAE performance index ignores the influence of the control amount, which may easily cause the control amount to be too large

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