Identification of the Mechanical Parameters for Servo Drive

This paper describes a novel identification technique of the moment of inertia and the viscous friction coefficient for a servo drive system. It is developed based on the basic dynamic equation of a mechanical system, and it uses the torque reference of a speed controller and the actual rotating speed of machine for the identification. Regardless of the simplicity of the techniques it is robust to external disturbances such as measurement noise, coulomb friction, mechanical resonance of the drive system. The identified inertia and friction can be used for auto-tuning of the gains in the speed controller and the disturbance observer. The effectiveness of the proposed method is proved by the computer simulation and experimental results.