CN103684188B - Method and system for identifying rotational inertia of motion control system - Google Patents

Abstract

The invention discloses a method for identifying rotational inertia of a motion control system. The method comprises the following steps of building a reference model similar to an actual system; generating a speed command through a speed command generation unit; controlling a torque command to output through a controller according to the speed command, and enabling motor feedback speed to trace the speed command; taking the motor feedback speed as a speed command of the reference model, controlling a disturbance torque observed value and a torque command of the reference model to output, and enabling feedback speed of the reference model to trace the motor feedback speed; outputting the disturbance torque observed value and the torque command of the reference model to an identification unit; and identifying the rotational inertia of the system by the identification unit through MIT self-adaption rule according to the disturbance torque observed value and the torque command of the reference model. According to the method, the rotational inertia of the whole system can be identified with higher accuracy within shorter time without the specific speed command. The invention also discloses a system for identifying the rotational inertia of the motion control system.

Description

The method for identification of rotational inertia of a kind of kinetic control system and system

Technical field

The present invention relates to motor control parameter self-tuning technical field, more particularly, it relates to a kind of kinetic control system Method for identification of rotational inertia and system.

Background technology

The change of AC servo load rotating inertia in running and perturbing torque easily causes controller Not mating of parameter, thus cause the deterioration of control performance, reduce stability margin and the bandwidth of system, restrict to a great extent The raising of systematic function.

Current existing method for identification of rotational inertia mainly has off-line identification and the big class of on-line identification two.Off-line identification is passed through Input specific speed preset signal (at least including an Acceleration and deceleration time section) at motor speed instruction end, gather motor simultaneously Actual torque and speed responsive, pass through cycle integrated or a linear young waiter in a wineshop or an inn further according to torque instruction and acceleration feedback signal The methods such as multiplication pick out the rotary inertia of motor.

Off-line inertia identification needs to pick out rotary inertia, then root in the case of kinetic control system quits work in advance The control parameter of servo-driver is set according to the inertia of identification.Off-line inertia identification method be applicable to system inertia constant or change The least application scenario, but in a lot of actual motion control systems, such as reel machine control system, whole rotary inertia can be with The increase of coil paper and increase, if servo-driver parameter still keeps constant, the response of system will reduce, and even results in System is unstable.

Existing online inertia identification method is by analyzing the motor response to outside disturbing signal, take observer or Person's Kalman filtering, the method such as Landau discrete-time parameter identification estimates rotary inertia, owing to the attribute of rotary inertia is necessary Just can embody during acceleration and deceleration, it is therefore desirable to longer Acceleration and deceleration time, the most real-time identification can not be accomplished.

Summary of the invention

In view of this, the present invention provides method for identification of rotational inertia and the system of a kind of kinetic control system, it is not necessary to spy Under fixed speed command, only need the most just can pick out to degree of precision the rotary inertia of whole system.

For solving above-mentioned technical problem, the technical solution used in the present invention is: the rotary inertia of a kind of kinetic control system Discrimination method, including:

Build and the reference model of real system approximation；

Negotiation speed instruction signal generating unit formation speed instruction ω_r；

By controller according to described speed command ω_rControl torque instruction T_refOutput, makes motor feedback speed omega_pFollow the tracks of Described speed command ω_r；

By described motor feedback speed omega_pAs the speed command of described reference model, the perturbed force of Reference model for control system Square observationWith reference model torque command T'_refOutput, and make the feedback speed ω ' of described reference model_pTracking motor is anti- Feedback speed omega_p；

By the disturbing moment observation of described reference modelWith reference model torque command T'_refOutput is to identification list Unit；

Described identification unit is according to the disturbing moment observation of described reference modelWith reference model torque command T ′_ref, the rotary inertia of system is picked out by MIT adaptive law.

Preferably, described identification unit is according to the disturbing moment observation of described reference modelWith reference model moment Instruction T'_ref, by MIT adaptive law pick out system rotary inertia particularly as follows:

By described reference model torque command T '_refIt is filtered obtaining HPFT' by high pass filter_ref；

By the disturbing moment observation of described reference modelIt is filtered obtaining by high pass filter

Will according to MIT adaptive lawAfter being multiplied with inertia identification gain alpha again with HPFT'_refIt is multiplied, then by product It is integrated drawing the rotary inertia of system

Preferably, described by controller according to described speed command ω_rControl torque instruction T_refThe computing formula of output For:

$T_{\mathrm{ref}}=\frac{(K_{p}s+K_i)\·\mathrm{Js}}{\frac{J}{\hat{J}}\·s^2+K_{p}s+K_i}\·{\mathrm{\ω}}_r;$

Wherein: K_pFor the proportional gain of controller, K_iFor the storage gain of controller, s is Laplace operator, and J is system True rotary inertia,For needing the rotary inertia of the system of identification.

Preferably, motor feedback speed omega is made described in_pFollow the tracks of described speed command ω_rComputing formula be:

${\mathrm{\ω}}_p=\frac{K_{p}s+K_i}{\frac{J}{\hat{J}}\·s^2+K_{p}s+K_i}\·{\mathrm{\ω}}_r.$

Preferably, by described motor feedback speed omega_pAs the speed command of described reference model, Reference model for control system Disturbing moment observationWith reference model torque command T'_refThe computing formula of output is:

${\hat{T}}_{\mathrm{dis}}=\frac{(K_{p}s+K_i)}{s^2+K_{p}s+K_i}(1-\frac{J}{\hat{J}})s\·{\mathrm{\ω}}_p;$

$T_{\mathrm{ref}}^{\′}=\frac{T_{\mathrm{ref}}}{J}+{\hat{T}}_{\mathrm{dis}}.$

Preferably, by described reference model torque command T'_refIt is filtered obtaining HPFT' by high pass filter_ref's Computing formula is:

${\mathrm{HPFT}}_{\mathrm{ref}}^{\′}=\frac{K_{p}s}{K_{p}s+K_i}\·(\frac{T_{\mathrm{ref}}}{\hat{J}}+{\hat{T}}_{\mathrm{dis}}).$

Preferably, by described reference model torque commandIt is filtered obtaining by high pass filterMeter Calculation formula is:

$\mathrm{HPF}{\hat{T}}_{\mathrm{dis}}=\frac{K_p{s}^2\·{\mathrm{\ω}}_p}{s^2+K_{p}s+K_i}(1-\frac{J}{\hat{J}}).$

Preferably, the rotary inertia of system is drawn according to MIT adaptive lawComputing formula be:

$\hat{J}=\∫\mathrm{\α}\frac{K_{p}s+K_i}{s^2+K_{p}s+K_i}\mathrm{HPF}{\hat{T}}_{\mathrm{dis}}*{\mathrm{HPFT}}_{\mathrm{ref}}^{\′}.$

Preferably, the rotary inertia of the system that draws is simplified according to MIT adaptive lawComputing formula be:

$\hat{J}=\∫\mathrm{\α}*\mathrm{HPF}{\hat{T}}_{\mathrm{dis}}*{\mathrm{HPFT}}_{\mathrm{ref}}^{\′}.$

A kind of identification of rotational inertia system of kinetic control system, including: velocity command, controller, reference Model, identification unit and motor；Wherein:

Described velocity command is connected with described controller, instructs ω for formation speed_r, and by described speed Instruction ω_rOutput is to described controller；

Described controller is according to the described speed command ω received_rControl torque instruction T_refOutput, makes motor feedback speed Degree ω_pFollow the tracks of described speed command ω_r；

Described reference model is connected with described controller, motor and identification unit respectively, by the feedback speed ω of motor_pMake For speed command, the disturbing moment observation of output reference modelWith reference model torque command T'_ref, and make described reference The feedback speed ω ' of model_pTracking motor feedback speed ω_p；

Described identification unit is connected with described reference model and controller respectively, the reference mould exported by described reference model The disturbing moment observation of typeWith reference model torque command T '_ref, the rotation being picked out system by MIT adaptive law is used to Amount.

From above-mentioned technical scheme it can be seen that the identification of rotational inertia side of a kind of kinetic control system disclosed by the invention Method, during identification, Negotiation speed instruction signal generating unit formation speed instruction, it is not necessary to input specific speed command, just Online identification of rotational inertia can be realized in the case of not affecting normal production operation；By building and real system approximation Reference model, comparison reference model and the output of actual controlled object or state, joined by MIT adaptive law regulation controller Number, it is possible to make the dynamic characteristic of controll plant consistent with the dynamic characteristic of reference model or deviation is the least；By MIT certainly Adapt to rule regulation inertia identification gain, it is possible to regulate the speed of inertia identification according to demand.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to Other accompanying drawing is obtained according to these accompanying drawings.

Fig. 1 is the flow chart of the method for identification of rotational inertia of a kind of kinetic control system disclosed by the invention；

Fig. 2 is the flow chart of the method for identification of rotational inertia of another kind of kinetic control system disclosed by the invention；

Fig. 3 is the block diagram of the identification of rotational inertia system of a kind of kinetic control system disclosed by the invention；

Fig. 4 is the control block realizing identification of rotational inertia disclosed by the invention；

Fig. 5 is the simulation result figure of identification of rotational inertia disclosed by the invention.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Base Embodiment in the present invention, those of ordinary skill in the art obtained under not making creative work premise all its His embodiment, broadly falls into the scope of protection of the invention.

The embodiment of the invention discloses method for identification of rotational inertia and the system of a kind of kinetic control system, it is not necessary to specific Speed command under, only need the most just can pick out to degree of precision the rotary inertia of whole system.

As it is shown in figure 1, the method for identification of rotational inertia of a kind of kinetic control system, including:

The reference model that S101, structure approximate with real system；

S102, Negotiation speed instruction signal generating unit formation speed instruction ω_r；

S103, by controller according to speed command ω_rControl torque instruction T_refOutput, makes motor feedback speed omega_pWith Track speed command ω_r；

S104, by motor feedback speed omega_pAs the speed command of reference model, the disturbing moment of Reference model for control system is seen Measured valueWith reference model torque command T'_refOutput, and make the feedback speed ω ' of reference model_pTracking motor feedback speed ω_p；

S105, by the disturbing moment observation of reference modelWith reference model torque command T '_refOutput is to identification list Unit；

S106, identification unit are according to the disturbing moment observation of reference modelWith reference model torque command T '_ref, logical Cross MIT adaptive law and pick out the rotary inertia of system.

The operation principle of the method for identification of rotational inertia of above-mentioned kinetic control system and process be: the present invention rotates for online Inertia identification, it is necessary first to build and the reference model of real system approximation, then Negotiation speed instruction signal generating unit generates speed Degree instruction ω_r, system controller is according to speed command ω_rControl torque instruction T_refOutput, makes motor feedback speed omega_pFollow the tracks of institute State speed command ω_r, then by motor feedback speed omega_pAs the speed command of reference model, the perturbed force of Reference model for control system Square observationWith reference model torque command T'_refOutput, and make the feedback speed ω ' of reference model_pTracking motor feeds back Speed omega_p；Then by the disturbing moment observation of reference modelWith reference model torque command T'_refOutput is to identification unit； Last identification unit is according to the disturbing moment observation of reference modelWith reference model torque command T'_ref, adaptive by MIT The rotary inertia of the system of picking out should be restrained.

Above-described embodiment is during identification, and Negotiation speed instruction signal generating unit formation speed instructs, it is not necessary to input spy Fixed speed command, it is possible to realize online identification of rotational inertia in the case of not affecting normal production operation；By building With the reference model of real system approximation, comparison reference model and the output of actual controlled object or state, by MIT self adaptation Rule regulation controller parameter, it is possible to make the dynamic characteristic of controll plant consistent with the dynamic characteristic of reference model or deviation to the greatest extent may be used Can be little；Inertia identification gain is regulated, it is possible to regulate the speed of inertia identification according to demand by MIT adaptive law.The present invention with Ideal model is with reference to control unit, comparison reference model and the output of actual controlled object or state, and passes through MIT self adaptation Rule goes to regulate controller parameter, makes every effort to that the dynamic characteristic making controll plant is consistent with the dynamic characteristic of reference model or deviation to the greatest extent may be used Can be little, it is characterised in that act in system although having load torque in identification process, due to by the disturbance of reference model Moment has passed through high pass filter, and the time constant one with speed controlling part arranged by the coefficient of high pass filter Cause, thus effectively eliminate fixing interference or the impact of load torque, improve the accuracy of inertia identification.

As in figure 2 it is shown, be the method for identification of rotational inertia of another kind of kinetic control system disclosed by the invention, including:

The reference model that S201, structure approximate with real system；

S202, Negotiation speed instruction signal generating unit formation speed instruction ω_r；

S203, by controller according to speed command ω_rControl torque instruction T_refOutput, makes motor feedback speed omega_pWith Track speed command ω_r；

S204, by motor feedback speed omega_pAs the speed command of reference model, the disturbing moment of Reference model for control system is seen Measured valueWith reference model torque command T'_refOutput, and make the feedback speed ω ' of reference model_pTracking motor feedback speed ω_p；

S205, by the disturbing moment observation of reference modelWith reference model torque command T'_refOutput is to identification list Unit；

S206, by reference model torque command T'_refIt is filtered obtaining HPFT ' by high pass filter_ref；

S207, by the disturbing moment observation of reference modelIt is filtered obtaining by high pass filter

S208, according to MIT Automatic adjusument rate willAfter being multiplied with inertia identification gain alpha again with HPFT'_refPhase Take advantage of, then product is integrated drawing the rotary inertia of system

Below in conjunction with Fig. 3 and Fig. 4 work to the method for identification of rotational inertia of kinetic control system disclosed in the present embodiment Principle and process are described in detail.

With reference to Fig. 3, inertia identification embodiment of the present invention includes velocity command, controller, motor, ginseng Examine model and identification unit.

Wherein, velocity command formation speed instruction ω_r, and by speed command ω_rExport to controller, used In amount identification process, this speed command ω_rNeed acceleration and deceleration process.

Controller is according to the speed command ω received_rControl torque instruction T_refOutput, makes motor feedback speed omega_pFollow the tracks of Command speed ω_r, wherein motor feedback speed omega_pIt is calculated according to encoder position feedback signal.

When controller adoption rate integral controller (PI controller), controller is according to speed command ω_rControl torque to refer to Make T_refThe computing formula of output is as follows:

$T_{\mathrm{ref}}=\frac{(K_{p}s+K_i)\·\mathrm{Js}}{\frac{J}{\hat{J}}\·s^2+K_{p}s+K_i}\·{\mathrm{\ω}}_r;$

Wherein: K_pFor the proportional gain of controller, K_iFor the storage gain of controller, s is Laplace operator, and J is system True rotary inertia,For needing the rotary inertia of the system of identification.

Motor feedback speed omega_pTracking velocity instruction ω_rComputing formula as follows:

${\mathrm{\ω}}_p=\frac{K_{p}s+K_i}{\frac{J}{\hat{J}}\·s^2+K_{p}s+K_i}\·{\mathrm{\ω}}_r.$

Above-mentioned reference model is the state observer model of actual controlled device, for monitor state variable, this enforcement Using electric current loop and servomotor as the control object of broad sense in example, owing to electric current loop bandwidth is much larger than speed ring bandwidth, therefore Electric current loop response process and delay can not be considered, electric current loop is approximately the model that gain is 1, ignores friction simultaneously.

Specifically, as shown in Figure 4 by motor feedback speed omega_pAs the speed command of reference model, control with reference to mould The disturbing moment observation of typeWith reference model torque command T'_refThe computing formula of output is as follows:

${\hat{T}}_{\mathrm{dis}}=\frac{(K_{p}s+K_i)}{s^2+K_{p}s+K_i}(1-\frac{J}{\hat{J}})s\·{\mathrm{\ω}}_p;$

$T_{\mathrm{ref}}^{\′}=\frac{T_{\mathrm{ref}}}{J}+{\hat{T}}_{\mathrm{dis}};$

From above formula, during acceleration and deceleration, the error of inertia can show with the form of disturbance.Meanwhile, above-mentioned To put it more simply, do not represent external loading moment in reference model, however the conversion rate of generally load relative to identification time For between relatively slow, therefore to eliminate the load torque disturbing moment observation to reference modelImpact, by reference The disturbing moment observation of modelWith reference model torque command T'_refBy the high pass filter in identification unit, wherein High pass filter function is:

$\mathrm{high}\_\mathrm{pass}\_\mathrm{filter}=\frac{K_{p}s}{K_{p}s+K_i}$

By the disturbing moment observation of reference modelBe can get by high pass filter:

$\mathrm{HPF}{\hat{T}}_{\mathrm{dis}}=\frac{K_p{s}^2\·{\mathrm{\ω}}_p}{s^2+K_{p}s+K_i}(1-\frac{J}{\hat{J}});$

Again by reference model torque command T' of reference model_refBe can get by high pass filter:

${\mathrm{HPFT}}_{\mathrm{ref}}^{\′}=\mathrm{high}\_\mathrm{pass}\_\mathrm{filter}\·T_{\mathrm{ref}}^{\′}=\frac{K_{p}s}{K_{p}s+K_i}\·T_{\mathrm{ref}}^{\′}=\frac{K_{p}s}{K_{p}s+K_i}\·(\frac{T_{\mathrm{ref}}}{\hat{J}}+{\hat{T}}_{\mathrm{dis}})$

Knowable to above formula, in acceleration and deceleration region, the rotary inertia of system can be picked out, and gone by MIT adaptive law Regulation controller parameter.If desired the rotary inertia of the system of identificationEqual, then with the true rotary inertia J of systemI.e.Producing reason or error Producing reason is inaccurate owing to inertia is arranged causes.

In the present invention, the parameter needing identification isI.e. need the rotary inertia of the system of identification, simultaneously real system With the error of reference model it isAccording to MIT adaptive law, willGain-α with inertia identification Being multiplied, the size of α need to adjust according to the change of gain, to ensure the stability of whole system, then by the product both this It is multiplied byI.e. obtaining inertia sensitivity is:

$\stackrel{\stackrel{\·}{^}}{J}=\frac{\∂\hat{J}}{\∂t}=-\mathrm{\α}\·\mathrm{\ϵ}\·\frac{\∂\mathrm{\ϵ}}{\∂\hat{J}}$

Wherein, α is the gain of inertia identification, determines the speed of identification.

Finally to inertia sensitivityIt is integrated i.e. obtaining the rotary inertia of systemFor:

$\hat{J}=\∫-\mathrm{\α\ϵ}\frac{\∂\mathrm{\ϵ}}{\∂\hat{J}}=\∫\mathrm{\α\ϵ}\frac{K_{p}s+K_i}{s^2+K_{p}s+K_i}{\mathrm{HPFT}}_{\mathrm{ref}}^{\′}=\∫\mathrm{\α}\frac{K_{p}s+K_i}{s^2+K_{p}s+K_i}\mathrm{HPF}{\hat{T}}_{\mathrm{dis}}*{\mathrm{HPFT}}_{\mathrm{ref}}^{\′}$

In order to simplify calculating, above-mentioned expression formula is reduced to:

$\hat{J}=\∫\mathrm{\α}*\mathrm{HPF}{\hat{T}}_{\mathrm{dis}}*{\mathrm{HPFT}}_{\mathrm{ref}}^{\′}$

Use MIT adaptive law, the fast of inertia identification can be regulated by regulation inertia gain coefficient α easily Slowly, the inventive method is used compared with prior art, it is possible to obtain inertia result quickly, the most continuous according to the conversion of inertia The PI parameter of correction actual control system, make torque output more steady, the speed responsive of real system is closer to ideal curve.

Fig. 5 is the identification of rotational inertia simulation result figure using the present invention.Actual whole load inertia is arranged by figure For 5 times of motor inertia, mechanical system single order inertia link is modeled, fixing interference is set as 0.005Nm, by identification The rotary inertia of initial system during beginningIt is set to 0.5 times of motor inertia (i.e. the true rotary inertia of system).From It can be seen that in the first two acceleration and deceleration cycle after identification starts in figure, the rotary inertia of systemConverge to whole soon Near the true inertia of individual system, then according to the rotary inertia of systemRevise PI parameter in real time, it is possible to achieve speed is referred to Order the most smoothly tracking response.

In sum, the present invention is with ideal model for reference to control unit, comparison reference model and actual controlled object Output or state, and go to regulate controller parameter by MIT adaptive law, make every effort to the dynamic characteristic making controll plant and reference mould The dynamic characteristic of type is consistent or deviation is the least, it is characterised in that although having load torque in identification process and acting on be On system, owing to the disturbing moment of reference model to have been passed through high pass filter, and the sum that the coefficient of high pass filter is arranged The time constant of speed controlling part is consistent, thus effectively eliminates fixing interference or the impact of load torque, improves inertia The accuracy of identification.

Additionally use MIT adaptive law, inertia identification can be regulated by regulation inertia gain coefficient α easily Speed, uses the inventive method compared with prior art, it is possible to obtain inertia result quickly, not according to the conversion of inertia simultaneously The PI parameter of disconnected correction actual control system, makes torque output more steady, and the speed responsive of real system is closer to preferable bent Line.

Additionally use the inertia identification method of the present invention, it is not necessary to input specific speed command, can not affect normally Realize online inertia identification in the case of production operation, and the identification time be short, it is only necessary to the acceleration and deceleration process that the persistent period is little, From simulation result shown in Fig. 5 it can be seen that can pick out result within two acceleration and deceleration stages, and identification precision is high, for Load inertia change situation greatly, has good adaptability.

In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other The difference of embodiment, between each embodiment, identical similar portion sees mutually.

Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention. Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (10)

1. the method for identification of rotational inertia of a kinetic control system, it is characterised in that including:

Build and the reference model of real system approximation；

Negotiation speed instruction signal generating unit formation speed instruction ω_r；

By controller according to described speed command ω_rControl torque instruction T_refOutput, makes motor feedback speed omega_pFollow the tracks of described Speed command ω_r；

By described motor feedback speed omega_pAs the speed command of described reference model, the disturbing moment observation of Reference model for control system ValueWith reference model torque command T '_refOutput, and make the feedback speed ω ' of described reference model_pTracking motor feedback speed ω_p；

By the disturbing moment observation of described reference modelWith reference model torque command T '_refOutput is to identification unit；

Described identification unit is according to the disturbing moment observation of described reference modelWith reference model torque command T '_ref, pass through MIT adaptive law picks out the rotary inertia of system.

Method the most according to claim 1, it is characterised in that described identification unit is according to the perturbed force of described reference model Square observationWith reference model torque command T '_ref, by MIT adaptive law pick out system rotary inertia particularly as follows:

By described reference model torque command T '_refIt is filtered obtaining HPFT ' by high pass filter_ref；

By the disturbing moment observation of described reference modelIt is filtered obtaining by high pass filter

Will according to MIT adaptive lawAfter being multiplied with inertia identification gain alpha again with HPFT '_refIt is multiplied, then product is carried out Integration draws the rotary inertia of system

Method the most according to claim 2, it is characterised in that described by controller according to described speed command ω_rControl Torque instruction T_refThe computing formula of output is:

$T_{ref}=\frac{(K_{p}s+K_i)\·Js}{\frac{J}{\hat{J}}\·s^2+K_{p}s+K_i}\·{\mathrm{\ω}}_r;$

Wherein: K_pFor the proportional gain of controller, K_iFor the storage gain of controller, s is Laplace operator, and J is the true of system Real rotary inertia,For needing the rotary inertia of the system of identification.

Method the most according to claim 3, it is characterised in that described in make motor feedback speed omega_pFollow the tracks of described speed command ω_rComputing formula be:

${\mathrm{\ω}}_p=\frac{K_{p}s+K_i}{\frac{J}{\hat{J}}\·s^2+K_{p}s+K_i}\·{\mathrm{\ω}}_r.$

Method the most according to claim 4, it is characterised in that by described motor feedback speed omega_pAs described reference model Speed command, the disturbing moment observation of Reference model for control systemWith reference model torque command T '_refThe computing formula of output For:

${\hat{T}}_{dis}=\frac{(K_{p}s+K_i)}{s^2+K_{p}s+K_i}(1-\frac{J}{\hat{J}})s\·{\mathrm{\ω}}_p;$

$T_{ref}^{\′}=\frac{T_{ref}}{J}+{\hat{T}}_{dis}.$

Method the most according to claim 5, it is characterised in that by described reference model torque command T '_refFiltered by high pass Ripple device is filtered obtaining HPFT '_refComputing formula be:

${\mathrm{HPFT}}_{ref}^{\′}=\frac{K_{p}s}{K_{p}s+K_i}\·(\frac{T_{ref}}{\hat{J}}+{\hat{T}}_{dis}).$

Method the most according to claim 6, it is characterised in that by described reference model torque commandPass through high-pass filtering Device is filtered obtainingComputing formula be:

$HPF{\hat{T}}_{dis}=\frac{K_p{s}^2\·{\mathrm{\ω}}_p}{s^2+K_{p}s+K_i}(1-\frac{J}{\hat{J}}).$

Method the most according to claim 7, it is characterised in that draw the rotary inertia of system according to MIT adaptive law's Computing formula is:

$\hat{J}=\∫\mathrm{\α}\frac{K_{p}s+K_i}{s^2+K_{p}s+K_i}HPF{\hat{T}}_{dis}*{\mathrm{HPFT}}_{ref}^{\′}.$

Method the most according to claim 8, it is characterised in that the rotation simplifying the system that draws according to MIT adaptive law is used to AmountComputing formula be:

$\hat{J}=\∫\mathrm{\α}*HPF{\hat{T}}_{dis}*{\mathrm{HPFT}}_{ref}^{\′}.$

10. the identification of rotational inertia system of a kinetic control system, it is characterised in that including: velocity command, control Device processed, reference model, identification unit and motor；Wherein:

Described velocity command is connected with described controller, instructs ω for formation speed_r, and by described speed command ω_rOutput is to described controller；

Described controller is according to the described speed command ω received_rControl torque instruction T_refOutput, makes motor feedback speed omega_p Follow the tracks of described speed command ω_r；

Described reference model is connected with described controller, motor and identification unit respectively, by the feedback speed ω of motor_pAs speed Degree instruction, the disturbing moment observation of output reference modelWith reference model torque command T '_ref, and make described reference model Feedback speed ω '_pTracking motor feedback speed ω_p；

Described identification unit is connected with described reference model and controller respectively, the reference model exported by described reference model Disturbing moment observationWith reference model torque command T '_ref, the rotary inertia of system is picked out by MIT adaptive law.