基于扩展滑模观测器惯量辨识的绞车参数自适应控制OA

As a kind of winch driven by motor,electric winch has more excellent performance of cable control.However,in the process of retracting and releasing the cable,the drum inertia of the electric winch will change with the change of the cable stock.This unknown inertia change will lead to mismatching of motor speed control parameters,which will lead to a decline in the control performance of the electric winch when drawing or releasing cables.A control algorithm based on inertia identification is needed to meet the demand of high precision and high speed.Firstly,according to the mathematical model of the motor and the transfer function of the control system,the influence of moment of inertia on the control system was analyzed.Then,a new inertia identification method based on extended sliding mode observer was proposed to identify the moment of inertia of the system in real time.The PI parameters of the speed ring were adjusted in real time by using the identification results.Finally,the feasibility and superiority of the proposed method were verified by simulation and experiment.