中文摘要：

针对系统参数变化时伺服性能降低的情况,提出了一种通过辨识系统转动惯量实现速度环自校正控制的方法。根据波波夫超稳定理论设计离散系统模型,参考自适应算法递推得到系统转动惯量。建模分析速度环参数和转动惯量的关系,得到一种简单的控制器自校正规律,实现系统速度环的自校正控制。这种方法根据机械参数的变化校正控制器,提高了系统伺服性能。通过Matlab仿真验证了参数辨识方法和速度环自校正控制的可行性和有效性。

英文摘要：

The paper has proposed a self - tun-ing method for speed control based on identifica- tion of the rotati - onal inertia, in consideration of the servo performance degradation when the system parameters changes. The method has identified the rotational inertia with a discrete model reference identification algorithm according to Popov super stability theory. It has also given a simple selftuning method according to the modeling and analysis of the relationship between the speed loop coefficient and the rotational inertia. This method can regulate the controller coefficient according to the changes of mechanical parameters, and provide a better performance for speed control. The simulation results have demonstrated the feasihility and effectiveness of the parameter identification method and the self - tuning speed control.