Inertia identification and its improvement of servo system based on MRAI
                                                            DONG Haijun1, DUAN Jianwen2
(1.Hangzhou Zhenzheng Robot Technology Co., Ltd., Hangzhou 311121, China; 2.Fair Friend Institute of Electromechanics, Hangzhou Vocational and Technical College, Hangzhou 310018, China)

Abstract: Aiming at the identification problem of the inertia, which is required by selftuning of the servo control parameters, the method based on model reference adaptive identification (MRAI) was studied. The adaptive identification law was constructed according to the discrete recursive identification mechanism, and by analyzing the influence of the identifying gain size on the inertia identification response, an improved adaptive adjustment algorithm was proposed, which is based on the evaluation criteria of the identification result, and the piecewise function was established to realize the dynamic adjustment of the gain. In simulation model and actual system, the influence of different identifying gain was compared and tested. The results show that the improved method can solve the contradiction of the rapidity and stability of the inertia identification, and can quickly track the change of the inertia of the system, and can be used for the selftuning of servo control parameters.

Key words: servo; inertia identification; model reference adaptive