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

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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.

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Acknowledgements

This work was supported by the Energy Efficiency & Resources of the Korea Institute of Energy Technology Evaluation and Planning(KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea under Grant 20193010025790.

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Authors and Affiliations

  1. Department of Automotive Engineering, Hanyang University, Seoul, Korea

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

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  1. Min-Sik Yoo
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  2. Seung-Cheol Choi
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  3. Sang-Woo Park
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Correspondence to Young-Doo Yoon.

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Yoo, MS., Choi, SC., Park, SW. et al. Identification of mechanical parameters for position-controlled servo systems using sinusoidal commands. J. Power Electron. 20, 1478–1487 (2020). https://doi.org/10.1007/s43236-020-00135-2

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  • DOI: https://doi.org/10.1007/s43236-020-00135-2

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