Parameter Identification and Controller Design for Limited-Angle Servo Motor Drives Using Acceleration Estimation Technique

This paper presents a fast and easy-to-implement acceleration-based parameter identification method for designing limited-angle servo motor drives. First, the servo motor model and position control scheme are introduced. Since controller gains are closely related to mechanical parameters, the impact of parameter mismatch on controller design is analyzed, showing that accurate parameters lead to better control performance. Conventional methods require designing the position or speed controller first and then estimating the actual parameters, which makes it hard to determine the gain of the controller before knowing the parameter. Therefore, this paper proposes an acceleration-based parameter identification method that directly identifies the parameters, which are then used to design the controller. To address cost and space limitations, an acceleration estimation technique is employed instead of installing an accelerometer. Finally, the accuracy of the parameter identification and the improved position control performance are experimentally validated.