Identification of mechanical parameters for position-controlled servo systems using sinusoidal commands

Min Sik Yoo, Seung Cheol Choi, Sang Woo Park, Young Doo Yoon

Research output: Contribution to journalArticlepeer-review

Abstract

This paper proposes an identification method for mechanical parameters based on position control. To improve motion control performance, the moment of inertia and friction components must be considered. Based on mechanical equations, the proposed method estimates the moment of inertia, viscous friction coefficient, and Coulomb friction in the off-line state. Mechanical parameters are obtained from the integral values for the products of the torque, speed, and position using the 90° phase relationship between acceleration and velocity. Simulation and experimental results demonstrate the validity and accuracy of the proposed method. Since its implementation is simple, this method can be applied easily to industry.

Original languageEnglish
Pages (from-to)1478-1487
Number of pages10
JournalJournal of Power Electronics
Volume20
Issue number6
DOIs
StatePublished - 2020 Nov 1

Keywords

  • Coulomb friction
  • Identification of mechanical parameters
  • Moment of inertia
  • Off-line identification
  • Speed reducer
  • Viscous friction coefficient

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