Abstract
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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
