关键词: 自抗扰控制, 转动惯量辨识, 负载转矩观测器, 模型补偿, 参数自校正

Abstract: In order to reduce the influence of parameter variation and external disturbance on the dynamic performance of the system and realize the high performance control of AC servo system, a self-correctingactive disturbance rejection control (ADRC) position servo control scheme based on parameter identification and model compensation was proposed.The load torque observer was designed based on the mechanical motion equation of the system, and the parameters of the observer were adjusted by using the identified moment of inertia.The variation of rotor position and load torque were taken as the input of the inertia identifiers based on the model reference adaptive. The identifiable moment of inertia and load torque were used to calibrate the parameters and compensate the disturbance of the ADRC.Simulation and experimental results show that the proposed moment of inertia identification algorithm is effective, the parameter identification has a faster convergence speed, and the identification result has less fluctuation;The accuracy of load torque observation is improved after correction;And the model compensation and self-correction measures adopted have strong robustness to disturbance.

Key words: active disturbance rejection control (ADRC), identification of moment of inertia, load torque observer, model compensation, parameter self-correction