中文摘要：

机械臂运行过程中,关节伺服系统的负载转动惯量和阻尼系数呈现时变特性,现有方法在未知负载转矩的情况下无法完成转动惯量和阻尼系数同时辨识。提出一种基于离散模型参考自适应算法在线同时辨识负载转动惯量和阻尼系数的方法,通过对关节伺服系统电机的机械方程离散化得到含有转动惯量和阻尼系数的模型自适应参考模型,采用朗道离散时间递推参数辨识机制推导模型自适应率进行参数辨识;利用参数辨识结果和设定的误差阈值在线优化控制参数。此方法能在线同时辨识转动惯量和阻尼系数并根据辨识结果优化速度环PI控制器参数值,提高速度的动态响应性能。仿真结果证明了参数辨识方法和控制器参数在线优化方法的有效性。

英文摘要：

The load inertia and damping coefficient of robot joints＇ servo systems change continuously during their operations. With the existing methods, the two time-varying parameters can＇t be estimated at the same time when the load torque is unknowr~ In order to get the moment of inertia and damping coefficient, online identification methods based on discrete model reference adaptive identification （DMRAI） are developed. First, the discrete form of mechanical movement equation which includes the load inertia and damping coefficient is regarded as the difference equation of the reference mode. Landau＇s discrete time-recursive parameter identification is used to reduce the adaptation mechanism. Then, the control parameters are optimized on-line on the base of the estimation result and the error threshold. This method can estimate the inertia and damping coefficient at the same time so that it can be used to optimize the speed PI regulator parameters and provide a good performance for speed control. The simulation results prove the effectiveness of the parameter identification method and the control parameters optimization.