Practical Modeling and System Identification of R/C Servo Motors

被引：16

作者：

Wada, Takashi ^{[1
]}

Ishikawa, Masato ^{[1
]}

Kitayoshi, Ryohei ^{[1
]}

Maruta, Ichiro ^{[1
]}

Sugie, Toshiharu ^{[1
]}

机构：

[1] Kyoto Univ, Dept Syst Sci, Grad Sch Informat, Kyoto 6110011, Japan

来源：

2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3 | 2009年

关键词：

D O I：

10.1109/CCA.2009.5280987

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An R/C servo motor is a compact package of DC geared-motor associated with position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high power/weight ratio. However, in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or under-actuated systems, it is crucial to clarify their mathematical model. In this paper, we propose a simple and realistic internal model of R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a transfer function model of their reference-to-torque characteristics so that we can estimate the internal torque acting on the load.

引用

页码：1378 / 1383

页数：6

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[6]

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