粘性摩擦，クーロン摩擦および一定外乱トルクの影響を除去したイナーシャ同定方式

Abstract

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.