Non - invasive identification of servo drive parameters

• Autorzy: Neugebauer R. , Hellmich A. , Hofmann S. , Schlegel H.
• Języki publikacji: EN

Abstrakty

EN

For the tuning of servo controllers as well as for monitoring functions, significant parameters of the controlled system are required. In contrast to identification methods with determined input signals, the paper focuses on the problem of identification with regular process movements (non-invasive identification), leading to a lack of power density in some frequency ranges. A nonlinear Least Squares (LS) approach with single mass system and friction characteristic is investigated regarding the accomplishable accuracy and necessary constraints. The proposed method is applicable on industrial motion controllers and has been carried out with a multitude of input sequences. To verify the performance of the approach, achieved experimental results for the model parameters are exposed.

Słowa kluczowe

EN

identification; parametric model; natural excitation; least squares method; SIMOTION

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2012
• Tom: Vol. 6, No. 2
• Strony: 13--16
• Opis fizyczny: Bibliogr. 9 poz., rys.

Twórcy

autor

Neugebauer R.

autor

Hellmich A.

autor

Hofmann S.

autor

Schlegel H.

• “Institute for Machine Tools and Production Processes”, Chemnitz University of Technology, Faculty of Mechanical Engineering, Institute for Machine Tools and Production Processes, Reichenhainer Str. 70, 09126 Chemnitz, Germany,

Bibliografia

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• [2] S. Beineke. “Online-Schätzung von mechanischen Parametern, Kennlinien und Zustandsgrößen geregelter elektrischer Antriebe“, VDI Fortschritt-Berichte 816, 2000. (in German)
• [3] S. Beineke et. al., “Comparison of parameter Identification Schemes for Self-Commissioning Drive Control of Nonlinear Two-Mass Systems”. In: IEEE Industry Applications Society, Annual Meeting, New Orleans, 1997, pp. 493-500.
• [4] F. Schütte, “Automatisierte Reglerinbetriebnahme für elektrische Antriebe mit schwingungsfähiger Mechanik”, Dissertation Thesis, Shaker Verlag, 2003.
• [5] H. Wertz, S. Beineke, N. Fröhleke, “Computer aided commissioning of speed and position control for electrical drives with identification of mechanical load”. In: IEEE Industry Applications Conference 1999.
• [6] F. Mink, A. Bähr, S. Beineke, “Self-commissioning feedforward control for industrial servo drives”, Elektromotion 2009.
• [7] A. O’Dwyer, Handbook of PI and PID Controller Tuning Rules, Imperial College Press, 2003.
• [8] K. J. Åström, T. Hägglund, Advanced PID Control, ISA, Research Triangle Park, 2006
• [9] R. Neugebauer et. al, “Identification of Parametric Models and Controller Design for Cascaded Position Control”. In: Proceedings of the 18th IFAC World Congress, Milan, 2011