324 慣性モーメントと粘性摩擦係数のオンライン同定方法の研究(G15-4 ロボットシステム,G15 ロボティクス・メカトロニクス)

概要

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This paper describes a novel identification technique of the moment of inertia and the viscous friction coefficient for a servo drive system. It is developed based on the basic dynamic equation of a mechanical system, and the torque reference of a speed controller and the actual rotating speed of machine are used for the identification. Regardless of the simplicity of the techniques it is robust to external disturbances. The identified inertia and viscous friction can be used for auto-tuning of the gains in the speed controller, the speed observer, and the disturbance observer. The effectiveness of the proposed method is proved by the experimental results using Uniaxial slide system.
社団法人日本機械学会の論文
2006-09-15