Identification of Mechanical Parameters of Permanent Magnet Servo System Based on Orthogonal Characteristics of Trigonometric Function

doi:10.12382/bgxb.2022.0130

Abstract

Abstract:

To mitigatethe impact of uncertain mechanical parameters on the control performance of apermanent magnet servo system, a method of mechanical parameter identification using the orthogonality of trigonometric functions is proposed. This method applies two mechanical angular velocity commands with different amplitudes but the same angular frequency to the motor.Itdecouples the friction coefficient and moment of inertia of the system through the integration of sine and cosine functions in different intervals, enhancing identification accuracy and eliminating uncertainty. The effect of load torque on the identification results of viscous friction coefficient, Coulomb friction coefficient and moment of inertia is investigated. At the same time, the load torque is observed by using the mechanical parameter values obtained from the identification, and the corresponding feed-forward compensation is performed for the friction torque and load torque of the system. The simulation and experimental results have verified the effectiveness of the method, with a mechanical parameter identification error of about 1%.The control performance of the speed loop is improved to a certain extent after the feed-forward compensation.

Key words: permanent magnet servo system, orthogonal characteristics of trigonometric functions, mechanical parameter identification, uncertain load torque, compensation

ZHU Qixin, JIANG Chenyan, ZHANG Guoping, ZHU Yonghong. Identification of Mechanical Parameters of Permanent Magnet Servo System Based on Orthogonal Characteristics of Trigonometric Function[J]. Acta Armamentarii, 2023, 44(6): 1820-1828.

Figures/Tables 16

Fig.1 Control block diagram of parameter identification and feedforward compensation

Table 1 Parameter setting

标识符	数值
R_s/Ω	1.5
L_d/H	0.0048
L_q/H	0.0048
φ_f/Wb	0.109
J/(kg·m²)	2.75×10^-4
B/(N·m·s·rad^-1)	0.0012
p_n	4
C/(N·m)	0.248

Fig.2 Speed instruction

Fig.3 Identification of system friction coefficients

Fig.4 Moment of inertia identification

Table 2 Identification results of mechanical parameters

参数	辨识值	真实值	误差/%
J/(kg·m²)	2.7526×10^-4	2.75×10^-4	0.95
B/(N·m·s·rad^-1)	0.001202	0.0012	0.17
C/(N·m)	0.2477	0.248	0.93

Fig.5 Load torque observation

Fig.6 Speed error without feedforward compensation

Fig.7 Speed error with friction feedforward compensation

Fig.8 Speed error with load torque feedforward compensation

Fig.9 Speed error with load torque and friction feedforward compensation

Fig.10 Experimental platform

Table 3 Parameter of the motor

标识符	数值
R_s/Ω	4.08
L_d/H	0.00408
L_q/H	0.00408
转矩常数/(N·m·A^-1)	0.55
J/(kg·m²)	0.34×10^-4
p_n	5
转速/(r·min^-1)	3000

Fig.11 Experimental identification results

Fig.12 Speed error without feedforward compensation

Fig.13 Speed error with feedforward compensation

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