基于惯量辨识的前馈控制算法研究

摘要

In order to improve the dynamic performance of the servo control system, through the study of the speed and acceleration feed forward control strategy and the inertia identification method based on model reference adaption, the motion control strategy is used to determine the acceleration feed forward coefficient based on the inertia moment on load. The physical principles of the meth-od in motion control strategy are analyzed, and the intrinsic relation between the feed forward coefficient and the inertia moment is studied. The simulation results show that the proposed method can be used to effectively improve the response speed and control precision of the servo system.%为了提高伺服控制系统的动态性能,通过研究速度和加速度前馈控制策略与基于模型参考自适应的惯量辨识方法,采用基于负载转动惯量确定加速度前馈系数的运动控制策略.分析了该方法在运动控制策略中的物理学原理,研究了前馈系数与转动惯量的内在联系.仿真结果表明该方法能有效提高伺服运动系统的响应速度与控制精度.