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标题：“动中通”伺服系统电流环辨识 |
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作者：薛晓峰，郑健，袁丁，等 |
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| 2018年第12期 访问次数：324次 |
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摘要：“动中通”伺服系统作为整机工作的执行环节，其中电流环作为伺服系统的内环，对于消除载体扰动起到至关重要的作用。目前“动中通”伺服系统对于电机的控制主要是基于理论模型的经典PID控制,参数调试主要依靠经验判断,存在控制精度低、偶然因素大等问题。通过系统辨识的方法,对电机电流环的模型进行在线辨识并在此基础上实现最优控制,可以有效克服上述问题。为此，提出了基于递推最小二乘法对无刷直流电机电流环模型进行系统辨识的方法。首先根据电机控制两个最基本的公式，推导了定子电流和输入电压之间的关系，建立了电流环的模型结构，然后通过实验对模型中的参数进行辨识，最后在Matlab中通过阶跃响应法证明了模型的有效性。
关键词：“动中通”伺服系统；电流环模型；系统辨识；递推最小二乘法
Abstract: The servo system of SOTM is the execution link of the whole machine work, in which the current loop is the inner loop of the servo system. At present, the servo system of SOTM is mainly based on the classical PID control model,its parameter adjustment mainly depends on the experience judgment. The control precision is low and it has high contingency. Through the method of system identification, the model of motor current loop can be identified online and the optimal control can be realized , which can effectively overcome the above problems.This paper proposed a method for systematic identification of the current loop model of brushless DC motor based on recursive least squares method. According to two basic formulas in motor control, the relationship between stator current and input voltage was found and the structure of current loop model was established. Then through the experiment, the parameter of the model was identified. At last, the validity of the model was proved by the step response method on the Matlab platform.
Key words: servo system of SOTM; current loop model; system identification; recursive least squares method
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