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Non - invasive identification of servo drive parameters

Neugebauer R., Hellmich A., Hofmann S., Schlegel H.

Journal of Automation Mobile Robotics and Intelligent Systems

2012

Vol. 6, No. 2

13-16

For the tuning of servo controllers as well as for monitoring functions, significant parameters of the controlled system are required. In contrast to identification methods with determined input signals, the paper focuses on the problem of identification with regular process movements (non-invasive identification), leading to a lack of power density in some frequency ranges. A nonlinear Least Squares (LS) approach with single mass system and friction characteristic is investigated regarding the accomplishable accuracy and necessary constraints. The proposed method is applicable on industrial motion controllers and has been carried out with a multitude of input sequences. To verify the performance of the approach, achieved experimental results for the model parameters are exposed.