A Simple Method for Identifying Mechanical Parameters Based on Integral Calculation

Abstract

A method for the identification of mechanical parameters based on integral calculation is presented. Both the moment of inertia and the friction constant are identified by the method developed here, which is based on well-known mechanical differential equations. The mechanical system under test is excited according to a pre-determined low-frequency sinusoidal motion, minimizing the distortion, and increasing the accuracy of the results. The parameters are identified using integral calculation, increasing the robustness of the results against measurement noise. Experimental data are supported by simulation, confirming the effectiveness of the proposed technique. The performance improvements shown here are of use in the design of speed and position controllers and observers. Owing to its simplicity, this method can be readily applied to commercial inverter products.

An Integral Method for Parameter Identification of a Nonlinear Robot subject to Quantization Error

“…In the literature, there are also many studies using integral methods to estimate system parameters. The work [14] presents a simple integral strategy for identifying the system parameters. The studies [26,28,33,34] introduce a first-order low-pass filter to establish the so-called filtered regression model and carry out the parameter estimation.…”