Research on Parameters Identification Technology of Integrated Deceleration Motors
The integrated deceleration motor had the characteristics of simple structure,high energy density,large speed reduction ratio,high control accuracy and so on,and it has been widely used in the field of industrial robots.As the key driving element of industrial robot,the motor parameters of integrated deceleration motor changed in real time under differ-ent working conditions.So the real-time identification of motor parameters was of great significance to improve the perform-ance of the control system.We analyzed the basic principle of recursive least square method and identified the stator resist-ance and inductance of the integrated gear motor with RLS model.The research results showed that the identification accu-racy of the stator resistance was 99.1%,the q-axis inductance identification accuracy could reach 97.1%,and the d-axis in-ductance identification accuracy was about 93%.When λ=0.995,the convergence rate was sufficient and the fluctuation was small,and the tracking performance of RLS identification was also high.This method had strong robustness,and it provided a reference for the research of integrated deceleration motor parameters identification technology.