Identification and Modeling of Nonlinear Servo Motor

摘要

The paper focuses on identification and modeling of nonlinear servo system Amira DR300. Detailed characteristics of the DR300 servo system are presented and both static and dynamic behavior is discussed as well as other system properties. Several types of nonlinearities, which are present not only in the DR300 but in many servo systems, are described and presented. Linear models representing DR300 system are created using the black box approach while a complex non-linear model in Simulink environment is created using the grey-box approach. Characteristics of the DR300 system can be generalized to a wide class of servo systems and this paper can serve as an example of modeling of such a system.