NDLI: Inertia and Friction Estimation of a Velocity-Controlled Servo Using Position Measurements

Content Provider	IEEE Xplore Digital Library
Author	Garrido, R. Concha, A.
Copyright Year	1982
Abstract	This paper proposes a method that estimates the parameters of a velocity-controlled servo. A proportional-integral controller, which uses only position measurements, closes the loop. The proposed approach uses the steady-state response produced by steps and sine-wave signals; they do not produce high levels of vibration on the servo compared with random signals commonly used with the least squares algorithm; moreover, it relies on simple numerical calculations. The method, which is called in the sequel as the steady-state response method (SSRM), consists of two steps. The first step uses three constant reference inputs in order to identify a constant disturbance and the viscous and Coulomb friction coefficients of the servo. In the second step, the SSRM estimates the servo inertia using a sine wave plus a constant signal as a velocity reference input and employs the estimate of the viscous friction coefficient obtained in the first step. Experiments on a testbed employing a brushless servomotor allow comparing the results obtained using the SSRM and those produced by a standard recursive least squares method (RLSM).
Sponsorship	IEEE Industrial Electronics Society
Starting Page	4759
Ending Page	4770
Page Count	12
File Size	850599
File Format	PDF
ISSN	02780046
Volume Number	61
Issue Number	9
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Steady-state Estimation Mathematical model Position measurement Servomechanisms velocity control least-squares methods moment of inertia parameter estimation proportional–integral (PI) controller servosystems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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