Abstract
The paper proposes a new adaptive method for identification of the axial moment of inertia for a two degrees of freedom reaction wheel pendulum with viscous friction in suspension bearings. The pendulum contains a rod, a controlled DC motor and a flywheel attached to the rotor shaft. One end of the rod rotates in hinge bearing. The controlled DC motor with a flywheel is attached to the other end of the rod. The angles of rotation of the rod and of the controlled flywheel are measured by encoders. The proposed adaptive method is based on an energy algorithm with reversible symmetric motions of the pendulum system. The symmetric motions are used to eliminate the influence of dissipative factors on the results of identification. The results of computer modelling and experimental results show high accuracy of the proposed identification method.
Highlights
1 Introduction The problem of precise identification of moments of inertia (MOI) of solid systems operating under conditions of unknown friction and environmental resistance is an actual problem of mechanics and control theory
We present a new adaptive method for identifying inertial parameters of solids on special symmetrical program motions
Analysing the experimental and simulation results we conclude that the proposed method with consecutive compensator has several advantages: it does not require measurement of acceleration, cumbersome calculations and linearization; only one two-step symmetric interval is needed to identify the inertia and friction parameters; the dissipative function of any order can be separated from the MOIs; the identification accuracy can be set and estimated by analyzing the tracking error value; the program trajectory can have any convenient symmetric shape with unknown derrivatives; proposed method has a fast-time convergence by selecting the right initial values of tuning parameters, can be configured with only two controller parameters, has a stable and small amplitude of the control signal, has high accuracy and can provides greater identification performance than the known method
Summary
The problem of precise identification of moments of inertia (MOI) of solid systems operating under conditions of unknown friction and environmental resistance is an actual problem of mechanics and control theory. Inertial parameters are estimated using various identification methods based on the analysis of the motion [Gobbi et al, 2011, Garcıa-Alarcon et al, 2012]. We present a new adaptive method for identifying inertial parameters of solids on special symmetrical program motions. We use robust adaptive control with the high-gain feedback principle to provide the desired program motions. Using this method, we do not need a friction evaluation to accurately identify the MOI. The program motion is performed under conditions of substantial viscous friction in bearings
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