Research on adaptive inertia identification method for permanent magnet servo system

• 1、School of Mechatronic Engineering and Automation ,Shanghai University,Shanghai 200072
• 2、School of Electrical and Electronic Engineering,Shandong University of Technology,Zibo,255091

Abstract：From the view of engineering application, according to the requirement of small inertia permanent magnet synchronous motor(PMSM) servo system for high precision , fast convergence of inertia identification and robustness to disturbance effects, this paper proposes a implementation method combined on-line inertia identification with load disturbance torque estimation for PMSM. This method uses improved model reference adaptive method to identify inertia on-line and designs a Kalman filter to observe the state of load disturbance torque, where the coefficient matrix of Kalman filter are updated in real time according to the identified inertia value.The simulation and experimental results show that, the on-line inertia identification results of PMSM have characteristics of rapid convergence and high identification accuracy. At the same time the system have very strong robustness to the changes of inertia and load torque disturbance.

Keywords： model reference adaptive method Kalman filter moment of inertia load torque