考虑测量噪声的朗道自适应惯量辨识方法
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摘要
传统朗道自适应惯量辨识方法只有一个自适应系数可以调节,难以同时兼顾辨识速度和辨识精度,导致速度自适应控制系统在测量噪声较大的情况下容易不稳定。为解决这一问题,提出了一种考虑测量噪声的朗道自适应惯量辨识方法。该方法采用相同的低通滤波器对速度和电磁转矩同时进行滤波,保证了辨识模型与无滤波时的相同。在此基础上综合调节自适应系数和滤波器时间常数,在保证辨识速度的前提下减小辨识系统的噪声,提高辨识精度,从而提高了速度自适应控制系统的稳定性。仿真和试验验证了所提方法的正确性和有效性。
Due to the fact that only one adaptive coefficient could be adjusted in traditional Landau method for inertia identification, it was difficult to obtain both good identification speed and identification accuracy, leading to the instability of the speed adaptive control system in the case of large measurement noise. To solve this problem, a Landau method for inertia identification considering measurement noise was proposed. By using the same low-pass filter for both the speed and the electromagnetic torque, the reference model was the same as the one without filter. On this basis, both the adaptive coefficient and the time constant of the filter were adjusted for the same identification speed while with better noise suppression, so as to improve the inertia identification accuracy and the stability of the speed adaptive control system. The correctness and effectiveness of the proposed method were verified by simulations and experiments.
Due to the fact that only one adaptive coefficient could be adjusted in traditional Landau method for inertia identification, it was difficult to obtain both good identification speed and identification accuracy, leading to the instability of the speed adaptive control system in the case of large measurement noise. To solve this problem, a Landau method for inertia identification considering measurement noise was proposed. By using the same low-pass filter for both the speed and the electromagnetic torque, the reference model was the same as the one without filter. On this basis, both the adaptive coefficient and the time constant of the filter were adjusted for the same identification speed while with better noise suppression, so as to improve the inertia identification accuracy and the stability of the speed adaptive control system. The correctness and effectiveness of the proposed method were verified by simulations and experiments.
引文
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[2] LI S H,LIU Z G.Adaptive speed control for permanent-magnet synchronous motor system with variations of load inertia[J].IEEE Transactions on Industrial Electronics,2009,56(8):3050.
[3] 左月飞,李明辉,张捷,等.控制增益对永磁同步电动机自抗扰控制性能的影响[J].电工技术学报,2016,31(3):58.
[4] NIU L,XU D G,YANG M,et al.On-line inertia identification algorithm for PI parameters optimization in speed loop[J].IEEE Transactions on Power Electronics,2015,30(2):849.
[5] AWAYA I,KATO Y,MIYAKE I,et al.New motion control with inertia identification function using disturbance observer[C]//Proceedings of the 1992 International Conference on Industrial Electronics,Control,Instrumentation,and Automation,1992:13.
[6] ANDOH F.Moment of inertia identification using the time average of the product of torque reference input and motor position[J].IEEE Transactions on Power Electronics,2007,22(6):2534.
[7] FUJITA K,SADO K.Instantaneous speed detection with parameter identification for AC servo systems[J].IEEE Transactions on Industry Applications,1992,28(4):864.
[8] 鲁文其,胡育文,梁骄雁,等.永磁同步电机伺服系统抗扰动自适应控制[J].中国电机工程学报,2011,31(3):75.
[9] 梁骄雁,胡育文,鲁文其.永磁交流伺服系统的抗扰动自适应控制[J].电工技术学报,2011,26(10):174.
[10] 荀倩,王培良,李祖欣,等.基于递推最小二乘法的永磁伺服系统参数辨识[J].电工技术学报,2016,31(17):161.
[11] 陈炜,郭照升,夏长亮,等.基于转动惯量辨识的交流伺服系统自适应扰动观测器设计[J].电工技术学报,2016,31(16):34.
[12] 朗道.自适应控制:模型参考方法[M].吴百凡,译.北京:国防工业出版社,1985.
[13] 左月飞,刘闯,张捷,等.永磁同步电动机转速伺服系统PI控制器的一种新设计方法[J].电工技术学报,2016,31(13):180.