Recursive identification of linear tooth belt-drive system

Tooth belt drives with directly connected permanent magnet servo motors are mechanically very flexible systems, and the resonances of the system change significantly as function of cart position and load. This paper addresses issues in identification of a linear tooth belt-drive with limited stroke. Particular attention is paid to detecting the changes in the system dynamics. This is achieved by using recursive least squares algorithm and exciting the system in different cart positions in order to identify the varying dynamics. Moreover, the direct identification in open-loop as well as under closed-loop conditions is considered. The identification of linear tooth belt drive is evaluated by simulations as well as through experimental tests.