Observer-based inertial identification for auto-tuning servo motor drives

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Title:	Observer-based inertial identification for auto-tuning servo motor drives
Authors:	Yang, Sheng-ming;Deng, Yu-jye
Contributors:	淡江大學機械與機電工程學系
Date:	2005-10-02
Issue Date:	2010-04-15 10:35:07 (UTC+8)
Publisher:	Piscataway: Institute of Electrical and Electronic Engineers (IEEE)
Abstract:	In servo motor drive applications variation of inertia degrades drive's performance. Motor response is affected not only by external disturbance input but also by mechanical parameters such as inertia and friction. These factors must all be considered in order for accurate inertia identification and drive tuning. In this paper, an observer-based auto-tuning scheme for servo motor drives is presented. This scheme is consisted of a state estimator to estimate motor disturbance and two adaptive controllers to separately adjust drive inertia and friction to their correct value. The servo control loop is tuned automatically with the inertia found. The experimental results show that this auto-tuning scheme can achieve good performance and that the scheme is able to estimate the mechanical parameters accurately.
Relation:	Industry Applications Conference, 2005. Fourtieth IAS Annual Meeting. Conference Record of the 2005, vol.2 , pp.968-972
DOI:	10.1109/IAS.2005.1518467
Appears in Collections:	[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Proceeding

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