| 引用本文: | 梁蔓安,周德俭.基于正交特性的机电伺服非线性机械参数辨识[J].控制理论与应用,2026,43(2):395~403.[点击复制] |
| LIANG Man-an,ZHOU De-jian.Nonlinear mechanical parameter identification for mechatronic servo based on orthogonal characteristics[J].Control Theory & Applications,2026,43(2):395~403.[点击复制] |
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| 基于正交特性的机电伺服非线性机械参数辨识 |
| Nonlinear mechanical parameter identification for mechatronic servo based on orthogonal characteristics |
| 摘要点击 126 全文点击 18 投稿时间：2023-11-19 修订日期：2024-06-21 |
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| DOI编号 10.7641/CTA.2024.30751 |
| 2026,43(2):395-403 |
| 中文关键词 参数辨识 伺服电机 转动惯量 摩擦力 前馈控制 自整定 |
| 英文关键词 parameter identification servomotors inertia friction feedfroward control self-tuning |
| 基金项目 国家自然科学基金项目(12362007, 52165054), 广西自然科学基金项目(2021JJA160278, 2020GXNSFAA159142)资助. |
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| 中文摘要 |
| 针对机电伺服控制中机械参数未知或变化导致控制器参数失匹, 动态性能和精度难以持续保证的问题, 提
出一种对转动惯量、非线性摩擦力和偏置负载进行快速参数辨识的方法. 此方法先后利用参考正弦信号的相位和
运动正交特性, 实现转动惯量和摩擦力辨识的解耦, 避开惯性力矩估计中的噪声干扰, 提高了辨识精度. 使用可分离
最小二乘法将非线性和线性摩擦力参数的优化过程分离, 降低了优化求解的计算负荷. 此方法对类似伺服系统机械
参数辨识具有一定的通用性. 通过硬件在环仿真实验, 分别对辨识方法可行性、辨识精度给予了验证; 实验研究了
辨识方法的增量式算法在速度比例–积分控制器参数自整定和前馈补偿中的应用. |
| 英文摘要 |
| Uncertainty and variation of mechanical parameters cause the mismatch of control settings in mechatronics
servo systems, therefore the dynamic performance and the accuracy cannot be guaranteed continuously. A rapid parameter
identification method for moment of inertia, nonlinear friction and bias load is proposed in this paper. It circumvents the
introduction of noise in inertial estimation and improves the identification accuracy by exploiting the phasic and kinematic
orthogonal properties of a sinusoidal reference to decouple the identifications of inertia and friction. The utilization of
separable least square method relieves the computational burden for optimization solution by separating the procedures
for optimizing the nonlinear and linear parameters of the friction model. The proposed method could be generalized to
identifications of similar mechanical systems. The feasibility and the accuracy of the identification method are verified
with a hardware-in-loop simulation respectively, and the application of incremental algorithm of the proposed method in
self-tuning and feedforward compensation of speed PI control is studied experimentally. |