CN101989827A - Method for automatically adjusting speed loop control parameters of alternating-current servo system based on inertia identification - Google Patents

Method for automatically adjusting speed loop control parameters of alternating-current servo system based on inertia identification Download PDF

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CN101989827A
CN101989827A CN2010105514605A CN201010551460A CN101989827A CN 101989827 A CN101989827 A CN 101989827A CN 2010105514605 A CN2010105514605 A CN 2010105514605A CN 201010551460 A CN201010551460 A CN 201010551460A CN 101989827 A CN101989827 A CN 101989827A
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inertia
identification
speed ring
speed
parameter
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CN101989827B (en
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李世华
顾浩
吴波
吴蔚
廖富全
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Southeast University
Nanjing Estun Automation Co Ltd
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NANJING ESTUN AUTOMATIC CONTROL TECHNOLOGY Co Ltd
Southeast University
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Abstract

The invention discloses a method for automatically adjusting speed loop control parameters of an alternating-current servo system based on inertia identification, which comprises the following steps: firstly, a current loop and a servo motor are used as generalized objects, and estimated values of the servo motor and the rotary inertia loaded on the servo motor are obtained by the inertia identification based on a disturbance torque observer; and then a pole collocation method is adopted to adjust proportion parameters and integral parameters of a speed loop proportion integration differentiation (PID) controller automatically. In method for automatically adjusting the speed loop control parameters of the alternating-current servo system based on inertia identification provided by the invention, by combining the inertia identification algorithm based on the disturbance torque observer with the characteristics of an alternating-current servo system, auto-adjustment of the speed loop PID parameters for the alternating-current servo system can be realized under different rotary inertias. Engineers do not need to set and adjust the controller parameters manually according to the experience and the system can automatically carry out the auto-adjustment of the speed loop parameters. Compared with the prior art, the method for automatically adjusting the speed loop control parameters of the alternating-current servo system based on inertia identification is simple in design principle, and has the advantages of good adaptability under the condition that the inertia change of the external load equipment is obvious, and the like.

Description

AC servo speed ring Control Parameter automatic setting method based on inertia identification
Technical field
The present invention relates to a kind of method of motion control field, specifically is that a kind of inertia identification technology of utilizing realizes speed ring PID controller parameter automatic setting method.
Background technology
Develop rapidly along with modern science and technology, the huge advance made of power electronic technology, microelectric technique, digital control technology and modern electrical machine control theory particularly, for advantage has been created in the development of AC servo, particularly at robot, space flight and aviation, Digit Control Machine Tool etc. to motor performance, the demanding field of control precision, AC servo receives increasing concern.
At present, the permagnetic synchronous motor AC servo speed regulating system control structures that adopt two closed loops more, promptly interior ring is current regulator, outer shroud is the speed control ring.Controller adopts the PID adjuster more.Wherein the effect of electric current loop is the rapidity of raising system, in time suppresses the interference of electric current inside; The effect of speed ring is the ability of the anti-load disturbance of raising system, suppresses velocity perturbation.
The controller parameter of AC servo has material impact to the performance of AC servo.When having only the inherent characteristic coupling when the Control Parameter of AC servo driver and servo drive system, just can make servo drive system be operated in optimum state.Therefore, usually require AC servo to carry out adjusting of controller parameter automatically, make servo system obtain good closed-loop control performance according to the actual motion state.
At present, the Control Parameter of AC servo driver mainly is to adjust manually to finish, and largely depends on people's experience in the process of adjusting.The process very complicated owing to adjust is had relatively high expectations to operating personnel, often can't obtain satisfied servo control performance.
In actual governing system, load rotating inertia changes the speed adjusting performance of the system that can influence.In some application scenarios, such as the reel winder control system, along with the reel winder spiral, be folded to total inertia on the motor also along with increase, when inertia increases when big, if controller parameter still remains unchanged, the performance meeting variation of closed-loop system, even cause system's instability.Therefore under system's moment of inertia variation situation greatly, if system can discern the operating mode (moment of inertia) of variation automatically, and in view of the above the system controller parameter is adjusted automatically, not only can improve the control performance of AC servo, and strengthen the intelligent and adaptability of AC servo working conditions change.
Existing P ID parameter self-tuning method mainly contains two kinds: one is based on the method for rule, adopts step response analysis and series of rules to carry out parameter tuning; Another kind is based on the method for model, promptly under the known condition of system model structure, and by test of many times identification objects model parameter, Tuning PID Controller device parameter on this basis then.At Permanent-magnet Synchronous-motor Speed Servo System, document (Li S H, Liu Z G. Adaptive speed control for permanent magnet synchronous motor system with variations of load inertia [J]. IEEE Trans. on Industrial Electronics, 2009,56 (8): 3050-3059) proposed single order self adaptation automatic disturbance rejection controller based on inertia identification.Inertia according to identification is come out utilizes fuzzy reasoning method, and single order automatic disturbance rejection controller parameter is adjusted accordingly, and emulation and experimental result show that single order self adaptation Active Disturbance Rejection Control scheme has stronger adaptivity to the variation of inertia.Document (Wang Shuping, Zhao Zhengming. the PMSM AC servo [J] of band modifying factor fuzzy control. Tsing-Hua University's journal, 2007,47 (1): 9-12) proposed the fuzzy controller of band modifying factor.According to the velocity deviation and the velocity error rate of control system, utilize modifying factor that Fuzzy Controller Parameters is carried out online modification.Simulation result shows that this method has tracking and anti-load disturbance performance preferably.
Summary of the invention
The objective of the invention is to change this situation greatly at system inertia, utilize existing a kind of online inertia identification algorithm (Kim N J based on the perturbing torque observer, Moon H S and Hyun D S, Inertia identification for the speed observer of the low speed control of induction machines[J], IEEE Trans Ind Appl, 1996,32 (6): 1371-1379), pick out the total equivalent moment of inertia of motor and load, then by POLE PLACEMENT USING method automatic adjusting speed ring PID controller parameter.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of AC servo Control Parameter automatic setting method based on inertia identification, at first with electric current loop and servomotor as generalized object, obtain the moment of inertia estimated value of this servomotor and load thereof by inertia identification; Adopt the POLE PLACEMENT USING method then, to speed ring PID controller parameter
Figure 868786DEST_PATH_IMAGE001
With
Figure 2010105514605100002DEST_PATH_IMAGE002
Carry out automatic adjusting.
Specifically, described AC servo Control Parameter automatic setting method based on inertia identification may further comprise the steps:
(1) identification moment of inertia estimated value
Figure 848243DEST_PATH_IMAGE003
The speed command signal of given one-period, this speed command signal is by amplitude
Figure 2010105514605100002DEST_PATH_IMAGE004
, the cycle
Figure 690297DEST_PATH_IMAGE005
, phase place
Figure 2010105514605100002DEST_PATH_IMAGE006
Definition; By inertia identification module,, calculate the estimated value of the total equivalent moment of inertia of interior servomotor of k cycle and load as follows according to aforementioned given cyclical velocity command signal based on the perturbing torque observer
Figure 711605DEST_PATH_IMAGE007
:
Figure DEST_PATH_IMAGE008
（22）
Wherein,
Figure 650611DEST_PATH_IMAGE009
,
Figure DEST_PATH_IMAGE010
Satisfy following condition respectively:
Figure 535391DEST_PATH_IMAGE011
（7）
Figure DEST_PATH_IMAGE012
（8）
In the formula:
Figure 354487DEST_PATH_IMAGE013
Be meant servomotor and the total equivalent moment of inertia estimated value of load in the k cycle;
Figure DEST_PATH_IMAGE014
It is motor moment of inertia rated value;
Figure 615704DEST_PATH_IMAGE015
Be the perturbing torque measured value
Figure DEST_PATH_IMAGE016
In time
Figure DEST_PATH_IMAGE017
The function that changes;
Figure DEST_PATH_IMAGE018
Be perturbing torque observer limit;
Figure 972998DEST_PATH_IMAGE019
With
Figure DEST_PATH_IMAGE020
Be internal state variable;
Figure 28679DEST_PATH_IMAGE017
Be time quantum;
Figure 845325DEST_PATH_IMAGE021
, be internal state variable
Figure 582337DEST_PATH_IMAGE020
To time quantum
Figure 168039DEST_PATH_IMAGE017
Derivative;
Figure DEST_PATH_IMAGE022
, be internal state variable
Figure 161665DEST_PATH_IMAGE019
To time quantum
Figure 403291DEST_PATH_IMAGE017
Derivative;
Figure 740731DEST_PATH_IMAGE023
Be motor speed; Be the motor electromagnetic torque;
(2) speed ring PID controller parameter is adjusted electric current loop and servomotor as generalized object, electric current loop adopts the PI controller, and it is 1 proportional component that electric current loop equivalence is become gain, to determine the speed ring closed loop transfer function, of AC servo speed ring PID controller controlled device and described servo AC system, adopt the POLE PLACEMENT USING method to obtain speed ring closed loop transfer function, limit, according to the resulting moment of inertia estimated value of step (1) identification
Figure 446519DEST_PATH_IMAGE003
, according to following speed ring PID controller parameter With
Figure 572924DEST_PATH_IMAGE002
Tuning formulae, carry out parameter
Figure 651738DEST_PATH_IMAGE001
With Adjust:
Figure 485144DEST_PATH_IMAGE025
（24）
Figure DEST_PATH_IMAGE026
（25）
Wherein,
Figure 498100DEST_PATH_IMAGE027
Be torque coefficient, Be torque coefficient,
Figure 857723DEST_PATH_IMAGE003
It is the resulting moment of inertia estimated value of identification in the step (1)
Figure 800271DEST_PATH_IMAGE013
,
Figure DEST_PATH_IMAGE028
It is speed ring closed loop transfer function, limit.
Described servomotor is a permagnetic synchronous motor.
According to above technical scheme, can realize following beneficial effect:
The present invention will combine based on the inertia identification algorithm of perturbing torque observer and the characteristic of AC servo, can realize the adjusting certainly of pid parameter of the speed ring of AC servo under the different moment of inertia.The engineering staff does not need rule of thumb manually to set and the conditioning controller parameter, system can finish the speed ring parameter self-tuning automatically, and compared with prior art, it is simple to have design principle, to external loading equipment inertia variation situation greatly, good advantages such as adaptability are arranged.
Description of drawings
Fig. 1 is a system block diagram of the present invention;
Fig. 2 is based on the AC servo Adaptive PID Control schematic diagram of inertia identification;
Fig. 3 is based on the inertia identification structure chart of perturbing torque observer;
Among Fig. 3, frame of broken lines represents that content is the perturbing torque observer;
Fig. 4 is an AC servo inertia identification curve chart;
Among Fig. 4, curve 1 expression inertia measured value, 2 expressions of curve inertia actual value;
Fig. 5 is under the inertia situation of change, before and after controller parameter is adjusted, and the speed responsive comparison diagram;
Among Fig. 5, curve 1 expression speed ring PI controller parameter do not adjust (
Figure 801987DEST_PATH_IMAGE029
,
Figure DEST_PATH_IMAGE030
) permagnetic synchronous motor system speed response schematic diagram; After the adjustment of 2 expressions of curve speed ring PI controller parameter (
Figure 284921DEST_PATH_IMAGE031
, ) permagnetic synchronous motor system speed response schematic diagram.
Embodiment
Accompanying drawing discloses the structural representation of a preferred embodiment involved in the present invention without limitation, explains technical scheme of the present invention below with reference to accompanying drawing.In addition, this embodiment is to implement under the prerequisite in the invention technical scheme, provided detailed execution mode and specific implementation process, but protection scope of the present invention is not limited to following embodiment.
AC servo Control Parameter automatic setting method based on inertia identification of the present invention, at first with electric current loop and servomotor as generalized object, obtain the moment of inertia estimated value of this servomotor and load thereof by inertia identification; Adopt the POLE PLACEMENT USING method then, to speed ring PID controller parameter
Figure 819808DEST_PATH_IMAGE001
With
Figure 995574DEST_PATH_IMAGE002
Carry out automatic adjusting.
Specifically, described AC servo Control Parameter automatic setting method based on inertia identification comprises two following steps:
Step 1: structure chart as shown in Figure 1, it has set up a system based on the AC servo speed ring Control Parameter automatic setting method of inertia identification, wherein, generalized object comprises electric current loop and permagnetic synchronous motor, electric current loop adopts the PI controller, consider that the electric current loop real-time is higher, in design process, electric current loop equivalence can be become gain be 1 proportional component (promptly
Figure 484587DEST_PATH_IMAGE033
), do not consider current response process and delay.Controller is meant the algorithm (as the PID controller) of control, and the inertia identification module is meant the inertia identification algorithm based on the perturbing torque observer.Among Fig. 1
Figure DEST_PATH_IMAGE034
,
Figure 771212DEST_PATH_IMAGE035
,
Figure DEST_PATH_IMAGE036
,
Figure 895025DEST_PATH_IMAGE037
Be respectively velocity setting signal, velocity error, controller output and actual speed output.The speed command signal of given one-period, this speed command signal is by amplitude
Figure 241693DEST_PATH_IMAGE004
, the cycle
Figure 654220DEST_PATH_IMAGE005
, phase place
Figure 246001DEST_PATH_IMAGE006
Definition, as:
Figure DEST_PATH_IMAGE038
, in the inertia identification link, as shown in Figure 3, servomotor and the total equivalent moment of inertia estimated value of load in the k cycle
Figure 489900DEST_PATH_IMAGE007
Calculate and go out by following formula:
Figure 679573DEST_PATH_IMAGE008
（22）
This formula (22) is derived by following mode particularly:
Mechanical movement equation according to permagnetic synchronous motor
Figure 641713DEST_PATH_IMAGE039
（1）
In the formula,
Figure DEST_PATH_IMAGE040
Be the total equivalent moment of inertia of servomotor and load,
Figure 270140DEST_PATH_IMAGE023
Be motor speed,
Figure 135590DEST_PATH_IMAGE041
Be the electromagnetic torque of motor,
Figure DEST_PATH_IMAGE042
Be load torque,
Figure 558481DEST_PATH_IMAGE043
It is the kinetic damping coefficient.
The definition perturbing torque Be all the torque sums except that electromagnetic torque, that is:
Figure 7917DEST_PATH_IMAGE045
（2）
In order to estimate the size of perturbing torque, we design a perturbing torque observer.Because the frequency that actual sample frequency changes far above perturbing torque, so can think perturbing torque
Figure 440036DEST_PATH_IMAGE044
In the sampling period constant, so have
Figure DEST_PATH_IMAGE046
（3）
Can get following state equation by above three formulas:
Figure 906132DEST_PATH_IMAGE047
（4）
Wherein,
Figure DEST_PATH_IMAGE048
, ,
Figure DEST_PATH_IMAGE050
,
Figure 436656DEST_PATH_IMAGE051
,
Figure DEST_PATH_IMAGE052
,
Figure 672465DEST_PATH_IMAGE053
Utilize above-mentioned state equation, can construct estimation
Figure 246928DEST_PATH_IMAGE044
Minimal order observer as follows:
Figure DEST_PATH_IMAGE054
（5）
Wherein, Be the rated value of moment of inertia, Be built-in variable,
Figure 147254DEST_PATH_IMAGE016
Be the perturbing torque estimated value,
Figure 74759DEST_PATH_IMAGE018
Be the limit of perturbing torque observer,
Figure DEST_PATH_IMAGE056
Following formula is carried out Laplace transformation, can obtain
Figure 777398DEST_PATH_IMAGE016
For:
Figure 360826DEST_PATH_IMAGE057
（6）
Introduce variable herein
Figure DEST_PATH_IMAGE058
,
Figure 672859DEST_PATH_IMAGE059
, they satisfy following condition respectively:
Figure DEST_PATH_IMAGE060
（7）
Perturbing torque
Figure 720449DEST_PATH_IMAGE044
Be immesurable physically, we adopt the perturbing torque observer to obtain its estimated value indirectly, wherein
Figure 92525DEST_PATH_IMAGE058
,
Figure 163249DEST_PATH_IMAGE059
Be the part that the perturbing torque observer is formed, belong to the internal state variable of perturbing torque observer.
So the estimated value of perturbing torque can be represented with following formula:
Figure 780437DEST_PATH_IMAGE061
（8）
The variable quantity of inertia
Figure DEST_PATH_IMAGE062
Normally cause that by load variations or evaluated error it can be expressed as:
Figure 682534DEST_PATH_IMAGE063
（9）
In the formula,
Figure 225511DEST_PATH_IMAGE040
Be the total equivalent moment of inertia of servomotor and load, It is the rated value of servomotor moment of inertia.
By formula (1), (5), (9) can obtain
Figure 375050DEST_PATH_IMAGE016
The differential equation as follows:
Figure DEST_PATH_IMAGE064
（10）
Introduce variable again
Figure 695435DEST_PATH_IMAGE065
, and make it satisfy following condition:
Figure DEST_PATH_IMAGE066
（11）
Then
Figure 409313DEST_PATH_IMAGE016
Can be expressed as follows:
Figure 454629DEST_PATH_IMAGE067
（12）
Following formula shows that the estimated value of perturbing torque is made up of 3 parts: inertia changes torque
Figure DEST_PATH_IMAGE068
, damping torque
Figure 912155DEST_PATH_IMAGE069
And load torque
Figure DEST_PATH_IMAGE070
For the value of identification moment of inertia, can provide the speed command test signal of one-period earlier:
Figure 87047DEST_PATH_IMAGE071
（13）
Wherein,
Figure 175089DEST_PATH_IMAGE005
Be the cycle of speed command.After servo system adds this speed command signal, its angular speed will be the one-period signal also during stable state, have:
Figure DEST_PATH_IMAGE072
（14）
Figure 504439DEST_PATH_IMAGE073
（15）
And can obtain by formula (11):
Figure DEST_PATH_IMAGE074
（16）
Figure 765656DEST_PATH_IMAGE075
（17）
Define two signals
Figure DEST_PATH_IMAGE076
With
Figure 795054DEST_PATH_IMAGE077
Inner product be:
Figure DEST_PATH_IMAGE078
（18）
Signal then
Figure 116314DEST_PATH_IMAGE059
With
Figure 870643DEST_PATH_IMAGE079
And
Figure 669972DEST_PATH_IMAGE065
With Inner product be:
Figure 255674DEST_PATH_IMAGE081
（19）
Figure DEST_PATH_IMAGE082
（20）
Formula (12) both sides are taken advantage of together
Figure 249300DEST_PATH_IMAGE079
, and get inner product, the expression formula that can be obtained inertia by formula (12), (19), (20) is:
Figure 412297DEST_PATH_IMAGE083
（21）
In the formula,
Figure DEST_PATH_IMAGE084
Be the estimated value of the total equivalent moment of inertia variable quantity of interior servomotor of k cycle and load,
Figure 567380DEST_PATH_IMAGE013
It is the estimated value of the total equivalent moment of inertia of interior servomotor of k cycle and load.
Therefore,
（22）
In the formula:
Figure 608334DEST_PATH_IMAGE013
Be meant servomotor and the total equivalent moment of inertia estimated value of load in the k cycle;
Figure 337256DEST_PATH_IMAGE014
It is motor moment of inertia rated value; Be the perturbing torque measured value
Figure 976365DEST_PATH_IMAGE016
In time
Figure 46214DEST_PATH_IMAGE017
The function that changes;
Figure 262432DEST_PATH_IMAGE019
With
Figure 207254DEST_PATH_IMAGE020
Be internal state variable;
Figure 559738DEST_PATH_IMAGE017
Be time quantum;
Figure 564603DEST_PATH_IMAGE021
, be internal state variable
Figure 628636DEST_PATH_IMAGE020
To time quantum
Figure 111570DEST_PATH_IMAGE017
Derivative;
Figure 584140DEST_PATH_IMAGE022
, be internal state variable
Figure 494327DEST_PATH_IMAGE019
To time quantum
Figure 481875DEST_PATH_IMAGE017
Derivative.
Fig. 4 is an AC servo inertia identification curve chart, wherein, and curve 1 expression inertia measured value, 2 expressions of curve inertia actual value.
Step 2: according to the result of identification, utilize the POLE PLACEMENT USING method, determine the Control Parameter of speed ring PID controller.As shown in Figure 2, speed ring controller in this example adopts the PI controller, according to the speed ring mathematics model analysis of AC servo as can be known, can be similar to AC servo speed ring open loop characteristic with first order modeling, and its transfer function is expressed as:
Figure DEST_PATH_IMAGE086
Wherein,
Figure 269964DEST_PATH_IMAGE040
Be the total equivalent moment of inertia of motor and load,
Figure 597040DEST_PATH_IMAGE087
Be the complex frequency operator,
Figure 943708DEST_PATH_IMAGE027
Be torque coefficient, for example get the permagnetic synchronous motor image parameter and be
Figure DEST_PATH_IMAGE088
,
Figure 418552DEST_PATH_IMAGE089
In addition, PI controller transfer function
Figure DEST_PATH_IMAGE090
, then system's closed loop transfer function, is:
（23）
Wherein
Figure 988653DEST_PATH_IMAGE028
(double pole) is speed ring closed loop transfer function, limit.
Can get thus, PI controller parameter tuning formulae is as follows:
Figure 443905DEST_PATH_IMAGE025
（24）
Figure 406045DEST_PATH_IMAGE026
（25）
As seen in Figure 5, under the situation that load equipment substitutes or inertia changes, can adjust the PID controller parameter based on the AC servo speed ring Control Parameter automatic setting method of inertia identification automatically, the system that makes has the good adaptive function.
In order further to verify the validity of the setting method that present embodiment proposes, the experiment porch in the present embodiment is the permagnetic synchronous motor system, adopts the digital control implementation based on DSP, and programming language is the C language.The chief component of system has: by the dsp chip TMS320 family chip TMS320F2808 of TI company be the control circuit part formed of core, by smart power device (Intelligent Power Module, be called for short IPM) be the inverter circuit part and the permagnetic synchronous motor of core, transducer such as photoelectric encoder and hall device also comprises keyboard and display module and communication module.The main application of each device is: Hall element is used to gather the two-way current signal
Figure DEST_PATH_IMAGE092
, photoelectric encoder is used to gather rotating speed of motor signal and rotor-position at motor internal; TMS320F2808 DSP is the core of whole servo system, is used to finish the computing of coordinate transform, speed control and current controller, its main operationals such as generation of SVPWM signal; Keyboard and display module are used for setup parameter and show current system mode; Communication module is used for communicating with host computer (serial communication); Inverter circuit is a core with power device IPM, and the SVPWM control signal that it generates according to DSP converts the power supply input to corresponding three-phase alternating voltage, is used for drive motors work.
When empty load of motor, speed ring PI controller parameter is
Figure 34472DEST_PATH_IMAGE029
,
Figure 70561DEST_PATH_IMAGE030
Motor drags load equipment, makes its inertia increase (10 times of inertia that inertia is rotor), and an online given speed periodic signal draws the estimated value of inertia
Figure 759031DEST_PATH_IMAGE003
, as shown in Figure 3,, obtain the parameter of speed ring controller by formula (24) and formula (25):
Figure 146150DEST_PATH_IMAGE031
,
Figure 814154DEST_PATH_IMAGE032
Fig. 5 has provided the speed responsive comparison diagram of controller parameter adjustment front and back permagnetic synchronous motor systems.
Present embodiment will be adjusted in the pid parameter of AC servo based on the inertia identification algorithm application of perturbing torque observer, by inertia identification and POLE PLACEMENT USING method are combined, can finish adjustment simply efficiently to AC Servo Motor Control device parameter.Experimental result shows: the present embodiment universality is strong, to external loading equipment inertia variation situation greatly, good adaptability is arranged.

Claims (3)

1. the AC servo speed ring Control Parameter automatic setting method based on inertia identification is characterized in that, at first with electric current loop and servomotor as generalized object, obtain the moment of inertia estimated value of this servomotor and load thereof by inertia identification; Adopt the POLE PLACEMENT USING method then, to the scale parameter of speed ring PID controller
Figure DEST_PATH_IMAGE001
And integral parameter
Figure 873315DEST_PATH_IMAGE002
Carry out automatic adjusting.
2. according to the described AC servo speed ring Control Parameter automatic setting method of claim 1, it is characterized in that, may further comprise the steps based on inertia identification:
(1) identification moment of inertia estimated value
Figure DEST_PATH_IMAGE003
The speed command signal of given one-period, this speed command signal is by amplitude
Figure 584306DEST_PATH_IMAGE004
, the cycle
Figure DEST_PATH_IMAGE005
, phase place Definition; By inertia identification module,, calculate the estimated value of the total equivalent moment of inertia of interior servomotor of k cycle and load as follows according to aforementioned given cyclical velocity command signal based on the perturbing torque observer
Figure DEST_PATH_IMAGE007
:
（22）
Wherein,
Figure DEST_PATH_IMAGE009
,
Figure 316005DEST_PATH_IMAGE010
Satisfy following condition respectively:
Figure DEST_PATH_IMAGE011
（7）
（8）
In the formula:
Figure DEST_PATH_IMAGE013
Be meant servomotor and the total equivalent moment of inertia estimated value of load in the k cycle;
Figure 564770DEST_PATH_IMAGE014
It is motor moment of inertia rated value;
Figure DEST_PATH_IMAGE015
Be the perturbing torque measured value In time
Figure 9843DEST_PATH_IMAGE018
The function that changes; Be perturbing torque observer limit;
Figure 361672DEST_PATH_IMAGE020
With
Figure DEST_PATH_IMAGE021
Be internal state variable;
Figure 343403DEST_PATH_IMAGE018
Be time quantum;
Figure 100006DEST_PATH_IMAGE022
, be internal state variable
Figure 813884DEST_PATH_IMAGE021
To time quantum
Figure 859201DEST_PATH_IMAGE018
Derivative;
Figure DEST_PATH_IMAGE023
, be internal state variable
Figure 316727DEST_PATH_IMAGE020
To time quantum
Figure 927837DEST_PATH_IMAGE018
Derivative;
Figure 78195DEST_PATH_IMAGE024
Be motor speed;
Figure DEST_PATH_IMAGE025
Be the motor electromagnetic torque;
(2) speed ring PID controller parameter is adjusted electric current loop and servomotor as generalized object, electric current loop adopts the PI controller, and it is 1 proportional component that electric current loop equivalence is become gain, to determine the speed ring closed loop transfer function, of AC servo speed ring PID controller controlled device and described servo AC system, adopt the POLE PLACEMENT USING method to obtain speed ring closed loop transfer function, limit, according to the resulting moment of inertia estimated value of step (1) identification
Figure 410475DEST_PATH_IMAGE003
, according to following speed ring PID controller scale parameter
Figure 671692DEST_PATH_IMAGE001
And integral parameter
Figure 74992DEST_PATH_IMAGE002
Tuning formulae, carry out scale parameter
Figure 396252DEST_PATH_IMAGE001
And integral parameter
Figure 150581DEST_PATH_IMAGE002
Adjust:
Figure 949910DEST_PATH_IMAGE026
（24）
Figure DEST_PATH_IMAGE027
（25）
Wherein,
Figure 535612DEST_PATH_IMAGE028
Be torque coefficient,
Figure 965456DEST_PATH_IMAGE003
It is the resulting moment of inertia estimated value of identification in the step (1)
Figure 3820DEST_PATH_IMAGE013
,
Figure DEST_PATH_IMAGE029
It is speed ring closed loop transfer function, limit.
3. according to the described AC servo speed ring Control Parameter automatic setting method of claim 1, it is characterized in that described servomotor is a permagnetic synchronous motor based on inertia identification.
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Cited By (36)

* Cited by examiner, † Cited by third party
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CN103124158A (en) * 2012-12-06 2013-05-29 华中科技大学 Method for self-adjusting control parameters of speed ring of permanent magnet synchronous motor based on fractional orders
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