Online Identification of Rotational Inertia of AC Servo System under Saturation Constraints
During the operation of the servo system,the accuracy of observer parameter identification is affect due to system satura-tion.To address this issue,an anti-saturation extended state observer(ASESO)was proposed.A mathematical model of single inertia servo system was established,and ASESO was designed to identify the rotational inertia and total disturbance of the servo system online for both saturated and unsaturated situations.Total disturbance was used to make a feedforward compensation for the system to mitigate the impact of external disturbance on the system model linearization.Compared with traditional ESO,ASESO has different observer mod-els in two system states(saturated and unsaturated situations).When the updated system meets the constrained saturation conditions(CSCs),the observer is in an unsaturated state and the inertia moment is in real-time.On the contrary,when the system enters a satu-rated state,due to small change in the system control variables,not all CSCs is satisfied,and the observer no longer updates the inertia moment and maintains the previous recognition value.Finally,the stability of the designed scheme was verified using Lyapunov theory.The simulation results show that the proposed scheme can ensure the accuracy of inertia moment identification under two conditions.The theoretical analysis and simulation results jointly verify the superior performance of ASESO compared with the traditional method.
system saturationextended state observerinertia identificationconstrained saturation conditions
万方数据
维普
