永磁同步电机伺服系统转动惯量的自适应辨识方法研究

2. 山东理工大学电气与电子工程学院，淄博 255091）

载扰动转矩在线估计相结合的实施方法。此方法采用改进的模型参考自适应法在线辨识惯量10

中图分类号：TM341 15

Technology,Zibo,255091)

Abstract: From the view of engineering application, according to the requirement of small inertia

permanent magnet synchronous motor(PMSM) servo system for high precision , fast convergence

of inertia identification and robustness to disturbance effects, this paper proposes a 25

implementation method combined on-line inertia identification with load disturbance torque

estimation for PMSM. This method uses improved model reference adaptive method to identify

inertia on-line and designs a Kalman filter to observe the state of load disturbance torque, where

the coefficient matrix of Kalman filter are updated in real time according to the identified inertia

value.The simulation and experimental results show that, the on-line inertia identification results 30

of PMSM have characteristics of rapid convergence and high identification accuracy. At the same

负载转动惯量随机械臂长的变化而变化，必须在线估计负载惯量，进而调节扰动观测器的输40

。