电子科技2025，Vol.38Issue(10)：62-72,11.DOI:10.16180/j.cnki.issn1007-7820.2025.10.008
基于滑模观测器的永磁伺服系统机械参数辨识
Mechanical Parameter Identification of Permanent Magnet Servo System Based on Sliding Mode Observer
摘要
Abstract
In view of the problems that the traditional sliding mode observer can not meet the high response and high precision positioning requirements of robots and computer numerical control machine tools,a method of load mo-ment identification based on sliding mode observer is proposed in this study.In addition to the improvement of the fil-ter,the adaptive control of feedback gain is added to enhance the anti-disturbance ability and identification accura-cy.To solve the problem of inaccurate identification of load moment when inertia is unknown,an algorithm of moment of inertia identification based on self-correcting error of moment of inertia is proposed,and the identified moment of inertia is fed back to the sliding mode observer to reduce the error of load moment identification.Experimental tests are carried out to verify the effectiveness of the proposed method.The experimental results show that when the inertia set value is the same as the actual value,the load moment identification accuracy is less than 0.33%,and the re-sponse time is less than 0.45 s.When the set value of inertia is different from the actual value,the identification ac-curacy of the moment of inertia is 0.35%,and the response time is within 0.80 s.After the identified moment of in-ertia is fed back to the load moment sliding mode observer,the load moment identification error is reduced from 8.33%to 0.25%.关键词
滑模观测器/伺服系统/高响应/高精度/自适应/负载力矩/转动惯量/辨识误差Key words
sliding mode observer/servo system/high response/high-precision/adaptive/load moment/moment of inertia/identification error分类
信息技术与安全科学引用本文复制引用
汪健,鲁文其,陈伟杰,王炜康,董小艳,方狄永..基于滑模观测器的永磁伺服系统机械参数辨识[J].电子科技,2025,38(10):62-72,11.基金项目
国家自然科学基金(52277068) （52277068）
浙江省科技厅重点研发计划(2024C01230,2023C01159,2022C01242)National Natural Science Foundation of China(52277068) （2024C01230,2023C01159,2022C01242）
Key Research and Development Program of Zhejiang Science and Technology De-partment(2024C01230,2023C01159,2022C01242) （2024C01230,2023C01159,2022C01242）
