Research on the identification of the moment of inertia of PMSM for industrial robots

摘要

When the load moment of inertia changes in the permanent magnet synchronous motor (PMSM) for industrial robots, the motor speed will oscillate, which will have a serious impact on the steady-state and dynamic performance of the control system. This dissertation takes the PMSM servo system for industrial robots under time-varying moment of inertia as the research object. First, a moment of inertia analysis model is established, and a moment of inertia identification method based on Model Reference Adaptive Identification (MRAI) is designed. Then use the identified moment of inertia to design the parameter self-tuning of the speed controller, and introduce the concept of "active damping". Finally, the performance of the designed control system is simulated by Matlab/Simulink, and the load experiment is carried out, which proves that the method has good anti-load interference performance.