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

Title
Identification of mechanical parameters for position-controlled servo systems using sinusoidal commands
Author
윤영두
Keywords
Identifcation of mechanical parameters; Moment of inertia; Viscous friction coefcient; Coulomb friction; Speed reducer; Off-line identifcation
Issue Date
2020-08
Publisher
KOREAN INST POWER ELECTRONICS
Citation
JOURNAL OF POWER ELECTRONICS, v. 20, no. 6, page. 1478-1487
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 degrees 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.
URI
https://link.springer.com/article/10.1007/s43236-020-00135-2https://repository.hanyang.ac.kr/handle/20.500.11754/169941
ISSN
1598-2092; 2093-4718
DOI
10.1007/s43236-020-00135-2
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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