A Method for Parameter Identification of Mechanical System Based on Differential Motion Equations

Abstract

Correct identification of system parameters contributes to construct more precise model of the system and therefore improves the performance of controller. The current identification algorithms have some disadvantages, such as the complication of algorithms and the high requirement on hardware. In this paper, we propose a new system identification method which only utilizes the data from serve motor encoder. Based on the differential equations of motion and the theory of undetermined coefficients, mechanical parameters of the system can be solved using the least square method with the equations constructed based on kinematic parameters obtained by experimental tests. The identified mechanical parameters are then used to construct the system transfer function and a SIMULINK model. The method is validated by comparing the results between simulation and experiment. This method has advantages of low requirement on hardware and simple algorithm. It is proper to be applied in mechanical parameter identification of servo system.