Identification of DC Motor Parameters Using Method of Dynamic Regressor Extension and Mixing

The main goal of this paper is to estimate the parameters of a DC electric motor using the new estimation method of dynamic expansion of the regressor and mixing (DREM). Input voltage and armature current are assumed to be measured. The position and velocity of the rotor are unmeasured. The parameters under consideration are the motor armature-winding resistance and inductance, back emf constant, motor torque constant, a moment of inertia, and viscous friction. The system output is angular position, armature voltage (system input). Experimental results are presented to demonstrate the application of this approach. In these experiments, the approach was readily implemented and gave more accurate estimates than conventional methods.