Identification of Dynamic Parameters in a DC Motor Using Step and Ramp Torque Response Methods

Area of Science:

• Robotics and Mechatronics
• Control Systems Engineering
• Mechanical Engineering

Background:

• DC motors are essential for motion in manufacturing and robotics.
• Precise control of speed and position is critical for these applications.
• Accurate estimation of dynamic parameters (inertia, friction) is needed for efficient control strategies.

Purpose of the Study:

• To present two analytical methodologies for DC motor parameter identification.
• To enable practical and computationally inexpensive estimation of inertia and friction.
• To validate the identified parameters for improving motor control.

Main Methods:

• Analysis of angular position data from a DC motor under constant torque (step) and ramp excitation.
• Development of entirely analytical procedures based on system response to inputs.
• Utilization of a hardware-in-loop (HIL) system for real-time data acquisition and processing in MATLAB/Simulink.

Main Results:

• Accurate and consistent identification of DC motor inertia and friction parameters.
• Validation of the identified parameters through implementation of a closed-loop proportional-integral (PI) speed control system.
• Demonstration of the practical applicability of the analytical methods.

Conclusions:

• The proposed analytical methods effectively identify DC motor dynamic parameters.
• The validated parameters are crucial for designing efficient and sustainable control strategies.
• These methods enhance motor control performance in diverse robotic applications.