精密工学会誌 = Journal of the Japan Society of Precision Engineering
英文:
巻, 号, ページ
Vol. 66
No. 10
pp. 1564-1567
出版年月
2000年9月
出版者
和文:
公益社団法人精密工学会
英文:
会議名称
和文:
英文:
開催地
和文:
英文:
アブストラクト
This paper presents the inertia identification method in which the factors of viscous friction, Coulomb friction and constant disturbance torque are eliminated. It has a model of a velocity controller and rigid mechanical system integrating faur conditions described as follows. The first condition is that real velocity equals model velocity and is not zero. Under this condition, the inertia is calculated by taking the ratio of the integrated value of real torque reference in specified time range to the integrated value of the model torque. The second condition, elimination of viscous friction, is that the integrated value of velocity equals to zero in the specified time range. The third condition, elimination of Coulomb friction, is that the time range for velocity in positive direction equals the time range for velocity in negative direction. The last condition, elimination of constant disturbance torque requires selection of velocity references Vref1 which is satisfied with conditions 1 to 3 and Vref2 which is defined as inverting of Vref1. Then, the average inertia value under each velocity reference is computed. The experimentalresults using the one-axis stage verified the exact inertia identification.
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