Identification of nonlinear two-mass systems for self-commissioning speed control of electrical drives

A self-commissioning system for high performance speed and position control of electrical drives requires identification of the mechanical model structure and parameters. This substantial task within the self-commissioning scheme is carried out by a step-by-step procedure which includes different test signals and identification methods collected in a toolbox. Methods based on discrete time models, on frequency responses, on the extraction of characteristic features of the system responses and basis function networks integrated into Kalman filters are combined to an effective scheme. The working principle is demonstrated on an adjustable mechanical load set-up driven by an industrial inverter (servo controller).