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Title: Simultaneous identification of multiple mechanical parameters in a servo drive system using only one speed
Authors: Zuo, Yuefei
Mei, Jie
Zhang, Xinan
Lee, Christopher Ho Tin
Keywords: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Engineering::Electrical and electronic engineering::Power electronics
Issue Date: 2021
Source: Zuo, Y., Mei, J., Zhang, X., & Lee, C. H. T. (2021). Simultaneous identification of multiple mechanical parameters in a servo drive system using only one speed. IEEE Transactions on Power Electronics, 36(1), 716-726. doi:10.1109/TPEL.2020.3000656
Journal: IEEE Transactions on Power Electronics
Abstract: In some servo applications, restricted by the measurement noise and the stiffness of the mechanical system, the bandwidth of the disturbance observer cannot be high enough to realize a good robust control to parameters uncertainties, it is essential to identify the mechanical parameters. In the existing mechanical parameter identification methods, the viscous and Coulomb friction torque coefficients are usually identified using two different constant speeds, and the moment of inertia can be identified with various methods. However, no one method can identify these three parameters at the same time using only one speed. The contribution of this paper is to propose a method that can identify the three mechanical parameters simultaneously using only one speed. A low pass filter is used to suppress the measurement noise in the speed feedback, thus parameters are identified with high precision. A unidirectional sine-wave speed is used to decouple the viscous friction torque and the Coulomb friction torque, two speeds with different amplitudes and the detection of the speed amplitude are no more required. Adaptive extended state observer (ESO) is designed based on Lyapunov’s stability theory, can be easily changed to the normal ESO used in active disturbance rejection control. The proposed method is easy to understand and implement. The effectiveness of the method is verified by both the simulation and experimental results.
ISSN: 0885-8993
DOI: 10.1109/TPEL.2020.3000656
Rights: © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at
Fulltext Permission: open
Fulltext Availability: With Fulltext
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