Automatic Identification of the Inertia and Friction of an Electromechanical Actuator

摘要

The aim of the present work is to present a fast identification method to estimate the inertial and friction parameters of a rigid body dynamic model of an electromechanical actuator. These are the dominant effects that determine the dynamics of machines and although the inertia is easily predictable, the friction can only be accurately known performing experimental measurements. The work provides the mathematical aspects of the identification method as well as several practical aspects for its implementation. The procedure is applied to an actuator based on a motor and a gearbox, and a comparison of the torque estimated and the real one are provided.