Aiming at the problem that the identification accuracy of mechanical parameters suffers from the fluctuation of thrust coefficient,an equivalent mechanical parameter model is proposed.In this model,the thrust coefficient is combined with the parameters to be identified.In addition,the equivalence between the proposed model and the traditional model in controller tuning and feedforward compensation is deduced.Furthermore,an identifier based on hybrid adaptive extended Kalman filter is constructed to identify the equivalent mechanical parameters online.The hybrid adaptive extended Kalman filter adds adaptive mechanism to the system noise matrix and the fading factor,which can estimate the system noise and converge fast with sudden loads.Moreover,the stability of the proposed algorithm is proved by the derivation of the system observability and positive definite property of the matrix.Eventually,the experiments are carried out on a permanent magnet synchronous linear motor,the effectiveness of the proposed algorithm is verified,and its online feasibility in 32 kHz and 10 kHz PWM cycle is demonstrated.
关键词
自适应/扩展卡尔曼滤波/机械参数辨识/永磁同步直线电机/位置伺服系统
Key words
adaptive/extended Kalman filter/mechanical parameter identification/permanent magnet synchronous linear motor(PMSLM)/position servo system
维普
万方数据