双惯量弹性伺服系统外部机械参数辨识综述.pdfVIP

第36 卷 第3 期 中 国 电 机 工 程 学 报 Vol.36 No.3 Feb.5, 2016 804 2016 年2 月5 日 Proceedings of the CSEE ©2016 Chin.Soc.for Elec.Eng. DOI ：10.13334/j.0258-8013.pcsee.2016.03.025 文章编号：0258-8013 (2016) 03-0804-14 中图分类号：TM 85 双惯量弹性伺服系统外部机械参数辨识综述 王璨，杨明，栾添瑞，徐殿国 (哈尔滨工业大学电气工程及自动化学院，黑龙江省 哈尔滨市 150001) A Review of External Mechanical Parameter Identification of Two-mass Elastic Servo Systems WANG Can, YANG Ming, LUAN Tianrui, XU Dianguo (School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001, Heilongjiang Province, China) ABSTRACT: As an execution unit of mechatronics systems 弹性系统每种辨识方法的基本思想，对比各自优缺点，剖析 whose stiffness of the controller, the servo system needs an 辨识算法在各工业领域中的应用，总结现有研究成果及有待 appropriate adjustment with various external mechanical 解决的问题，并展望未来的研究方向。 parameters like load inertia, shaft stiffness and so on. Therefore, 关键词：伺服系统；双惯量弹性系统；外部机械参数；辨识 the identification of the external mechanical parameters plays 方法 an important role. With great emerging of the methods in the past 20 years, the maturity of the “inertia-based” identification 0 引言 method for the one-mass rigid system is high enough. However, 交流伺服系统对控制精度及运行可靠性均有 the transmission part of actual systems is more elastic, which will lead to mechanical resonance, even the deterioration of 严格要求，而实际应用中，电机与驱动系统来自于 system performances. Thus, parameter identification of 不同厂商时，则有必要通过驱动系统自动检测电机 two-mass elastic systems has more significant value,