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在DC电机中识别动态参数,使用步骤和坡道扭矩响应方法
Jorge Antonio Cardona Soto1, Israel U Ponce2, Israel Soto2
1Universidad Tecnológica de Chihuahua, Chihuahua, CP 3126, Mexico.
Sensors (Basel, Switzerland)
|January 10, 2026
概括
本研究介绍了两种分析方法,用于识别DC电机的动态参数,如惯性和摩擦,这对于机器人的精确运动控制至关重要. 经过验证的方法为提高机器人系统性能提供了实用,计算成本低廉的解决方案.
科学领域:
- 机器人和机械电子学
- 控制系统工程 控制系统工程
- 机械工程 机械工程
背景情况:
- 在制造业和机器人技术中,直流电机对于运动至关重要.
- 对于这些应用,精确控制速度和位置至关重要.
- 为了有效的控制策略,需要精确估计动态参数 (惯性,摩擦).
研究的目的:
- 介绍两种用于识别直流电机参数的分析方法.
- 为了使惯性和摩擦的实际和计算成本低廉的估计.
- 验证已识别的参数,以改善电机控制.
主要方法:
- 在恒定扭矩 (步骤) 和坡道激发下,分析来自直流电机的角度位置数据.
- 开发完全基于系统对输入的响应的分析程序.
- 使用硬件循环系统 (HIL) 在 MATLAB/Simulink 中进行实时数据采集和处理.
主要成果:
- 准确和一致地识别直流电机惯性和摩擦参数.
- 通过实施闭环比例积分 (PI) 速度控制系统来验证已识别的参数.
- 演示分析方法的实际适用性.
结论:
- 提出的分析方法有效地识别了直流电机的动态参数.
- 验证的参数对于设计高效和可持续的控制策略至关重要.
- 这些方法在各种机器人应用中提高了电机控制性能.
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