| EtherCAT 伺服电动机闭环系统识别与实验验证 |
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| 引用本文：奚子恒,周静.EtherCAT 伺服电动机闭环系统识别与实验验证[J].上海第二工业大学(中文版),2026,43(1):47-54 |
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| 基金项目:国家自然科学基金 (51605295) 资助 |
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| 中文摘要:针对 EtherCAT 伺服电动机位置模式下闭环结构复杂、通信延迟显著且系统中含有积分环节易导致辨识数值不稳定的问题, 本文构建了一种面向工程应用的闭环系统识别流程。基于离散时间输入 - 输出模型, 引入控制框图等价变换, 对输出信号进行差分与尺度归一化处理, 以降低参数相关性并提高辨识稳定性。在该框架下, 采用伪随机二进制序列 (pseudo-random binary sequence, PRBS) 作为激励信号, 对闭环输出误差法 (closed-loop output error, CLOE)、滤波闭环输出误差法 (filtered closed-loop output error, F-CLOE) 与自适应滤波闭环输出误差 (adaptive filtered closed-loop output error, AF-CLOE) 等闭环辨识方法进行了系统比较, 并在 LinuxCNC 与 IgH EtherCAT 平台上开展了实验验证。实验结果表明, F-CLOE 方法在预测误差的统计特性及频域动态匹配方面表现更优, 能够有效辨识包含通信延迟的伺服闭环动态模型。所获得模型可在不改变硬件结构的前提下, 为 EtherCAT 伺服系统的高精度运动控制提供可靠的模型基础。 |
| 中文关键词:伺服电动机 闭环系统识别 机床控制 滤波闭环输出误差法 伪随机二进制序列 传递函数 模型验证 |
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| Closed-Loop Identification and Experimental Validation of EtherCAT Servo Motors |
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| Abstract:To address the challenges of complex closed-loop structures, significant communication delays, and inherent integrator dynamics in EtherCAT servo motor position control systems, which often lead to numerical instability in system identification, this paper proposes a closed-loop system identification procedure oriented toward engineering applications. Based on a discrete-time input–output
model, control block diagram equivalence is employed, and the output signal is processed through differencing and scaling normalization to reduce parameter correlation and improve identification robustness. Within this framework, a pseudo-random binary sequence (PRBS) is used as the excitation signal, and several closed-loop identification methods, including closed-loop output error (CLOE),
filtered closed-loop output error (F-CLOE) and adaptive filtered closed-loop output error (AF-CLOE), are systematically compared. Experimental validation is conducted on a LinuxCNC platform with IgH EtherCAT communication. The results demonstrate that the F-CLOE method achieves superior performance in terms of prediction error statistical properties and frequency-domain dynamic matching, enabling accurate identification of servo closed-loop dynamics with communication delays. The identified model provides a reliable basis for high-precision motion control in EtherCAT-based servo systems without requiring modifications to the hardware structure. |
| keywords:servo motors closed-loop identification machine control filtered closed-loop output error pseudo-random binary sequence transfer function model validation |
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