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Moment of Inertia and Friction Torque Coefficient Identification in a Servo Drive System

Title
Moment of Inertia and Friction Torque Coefficient Identification in a Servo Drive System
Author
김성민
Keywords
Coulomb friction torque coefficient; mechanical parameter identification; moment of inertia; friction torque coefficient; viscous friction torque coefficient
Issue Date
2019-01
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v. 66, No. 1, Page. 60-70
Abstract
This paper proposes a new method to identify the mechanical parameters of a servo drive system, such as the moment of inertia and friction torque coefficients. Identification of the moment of inertia is essential for the design of a high-performance speed and position controller. Furthermore, the mechanical friction torque coefficients, such as the viscous and Coulomb friction torque coefficients, can be used to reduce the speed and position error without resorting to the use of a high gain for the speed controller. To simultaneously identify the moment of inertia and the friction torque coefficients, the proposed method uses the fact that the sinusoidal speed is in phase with the friction torque and out of phase with the torque for the moment of inertia. The proposed method is based on the speed control loop and the moment of inertia, and friction torque coefficients can be exactly obtained from a half-period integration of the torque reference of the low frequency sinusoidal speed control. Using computer simulations and experiments employing 600-W servo drive systems, the feasibility of the proposed method was verified.
URI
https://ieeexplore.ieee.org/document/8336964https://repository.hanyang.ac.kr/handle/20.500.11754/112184
ISSN
0278-0046; 1557-9948
DOI
10.1109/TIE.2018.2826456
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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