粘性摩擦, クーロン摩擦および一定外乱トルクの影響を除去したイナーシャ同定方式

概要

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This paper presents the inertia identification method in which the factors of viscous friction, Coulomb friction and constant disturbance torque are eliminated. It has a model of a velocity controller and rigid mechanical system integrating four conditions described as follows. The first condition is that real velocity equals model velocity and is not zero. Under this condition, the inertia is calculated by taking the ratio of the integrated value of real torque reference in specified time range to the integrated value of the model torque. The second condition, elimination of viscous friction, is that the integrated value of velocity equals to zero in the specified time range. The third condition, elimination of Coulomb friction, is that the time range for velocity in positive direction equals the time range for velocity in negative direction. The last condition, elimination of constant disturbance torque, requires selection of velocity references V_<ref1> which is satisfied with conditions 1 to 3 and V_<ref2> which is defined as inverting of V_<ref1>. Then, the average inertia value under each velocity reference is computed. The experimental results using the one-axis stage verified the exact inertia identification.
公益社団法人精密工学会の論文
2000-10-05