УДК 621

PARAMETRIC IDENTIFICATION IN MECHANICAL SYSTEMS

V.S. Lovejkin, Doctor of Technical Sciences, Pr.,

Y.V. Chovnjuk, Candidate of Technical Sciences, Assoc. Prof.,
M.G. Dikterjuk, Candidate of Technical Sciences, Assoc. Prof.,
Kyiv National University of Construction and Architecture

Summary. Parametric identification in mechanical systems has been offered in

order to improve mechatronic models.

Key words: parametric identification, mechanical systems.

Research objectives
It’s necessary to define the equivalent distur-
bance in order to consider the robust control of
motion actuated by electric motor. The explana-
tion and the interpretation of robustness and
stiffness in motion control lead to definition of
disturbance. The general definition for single-
input and single-output (SISO) linear system is
discussed.
There are various proposals to estimate the dis-
turbance d . This paper introduces a disturbance
observer. Gopinath’s method is a systematic way
to construct such an observer [1]. Once d is
estimated, the input of the mechanical system
u (t ) will be sum of two parts:
u u ref u dis . (1)
The first term in the right side is a driving input
to excite the system. The second term is a com-
pensation to suppress the equivalent disturbance
and the system acquires robustness. To cancel
the equivalent disturbance, the compensation
input is made by using the estimated equivalent-
disturbance dˆ. Since d̂ will be delayed by the
lag poles in the disturbance observer, the com-
pensation of the equivalent disturbance will be
also delayed by the same amount. It’s possible to
design such delay as small as possible not to
make robust stability deteriorate. The compensa-
tion input u dis will change the original system
into the nominal system without any distur-
bance.
It is noted that the design of u ref comes from the
motion reference generator.
Generally total controller will have cascade of
the outer loop to bring the desired output and the
inner loop by disturbance observer.
The previous design method is applied to the
motion system described by:
d
J Kt I a ref Tl . (2)
dt
Here J inertia; Kt torque coefficient of elec-
tric motor; Tl load torque. This approach is
successes to design robust motion controller of
mechanical system (such as building machine)
as well.
The disturbance is load torque. The parameter
variations are the change of inertia and the
change of torque constant of motor. The output
is position detected by position detector. The
equivalent disturbance is:
Tl Kt Kto
d I a ref . (3)
J J J0
Suppose the first derivative of d is zero. An
augmented state equation is:
 0 d
010 J0 Kto I a ref
d Kto dt
0 01 I a ref . (4) . (11)
dt J0 d
000 Tl J K t I a ref
d d dt
0

The second term of (11) is the disturbance tor-

By Gopinath’s method, the following estimation
que Tdis
process is obtained:

dˆ k1 z1. (5) Tdis Tl J

d
Kt I a . (12)
dt
z1 should satisfy (6), where k1 and k2 are free
Comparing (2), (3), and (12), the following equ-
parameters: ation holds:

d z1 0 k1 z1 Tdis J 0 ( d ). (13)
dt z2 1 k2 z2
k1k2 Tdis contains: 1) mechanical load ( Tl ); 2) va-
K to . (6) ried self-inertia torque J (d / dt ) ; 3) torque
(k1 k2 2 ) I a ref
J0 ripple from motor ( Kt I a ).

Equations (4) and (6) lead (7): The robust motion controller is designed to can-
cel the disturbance torque as quickly as possible.
k1 Kto ref
dˆ 2
s2 Ia The estimated disturbance torque is obtained
s k2 s k1 J0 from the position and the current reference.
k1 According to (1) and:
2
d. (7)
s k2 s k1
1 ˆ
u dis d, (14)
Two poles of the observer for the s parameter Kt 0
of transfer function between input U (s) and out-
put Y ( s ) are and , which are arbitrarily compensation input is as follows:
allocated in the complex plane. They satisfy (8):
J0 ˆ 1 ˆ
I dis d Tdis . (15)
k2 Kto Kto
(8)
k1.
The schematic block diagram of robust motion
controller has an integrator with high gain equi-
It is worthwhile reconsidering (2). The parame- valently in the forward path. Therefore, the ro-
ters in (2) are the inertia and the torque coeffi- bust motion controller eliminates steady state
cient. The inertia will change according to the error.
mechanical configuration of motion system. The
torque coefficient will vary according to the ro- Equation (7) shows that the disturbance is esti-
tor position of electric motor due to irregular mated through low-pass filter. Generally, there
distribution of magnetic flux on the surface of is such a low-pass filter in the observer structure.
rotor: The poles of the observer determine the delay of
the low-pass filter GT (s). GT ( s) gives a certain
J J0 J (9)
effect to the control performance.
Kt Kto Kt . (10) The disturbance observer in motion system (a
robust motion controller) may be transformed
By substituting (9) and (10) into (2), (11) holds: into an acceleration controller as well. Such
transformation is possible due to its ability to
clarify the feedback effect of the disturbance. If
there is no delay in the estimation process, the
disturbance is completely canceled out. In fact,
since there is definitely some time-delay in the
estimation process, the controlled system is not
robust in high frequency range determined by
1 GT (s) GS (s). GS (s) is called a sensitivity
function which shows a performance limit of
robust control in high frequency range. In most
of low frequency area covered by GT (s), the
motion system is robust. The transformation: a
robust motion controller an acceleration con-
troller – shows another interpretation. It’s possi-
ble to select nominal inertia and nominal torque
coefficient as unity. This case shows that a cur-
rent reference is also an acceleration reference.
The paper reaches a result that robust motion
controller makes a motion system (for example,
building machine) to be an acceleration control
system. The result implies a versatility of robust
motion controller for both position and force
control. If position signal is fed back, a high-
gain feedback in the robust controller makes
stiffness very high. On the contrary, only pure
force error feedback makes total stiffness zero
since there is no gain to the position.
In the above discussion, the disturbance esti-
mated by (7) is used for a realization of robust
mechanical system. In the actual application, the
estimated disturbance is effective for not only
the disturbance compensation but also the para-
meter identification in the mechanical system.
As defined in (3), the equivalent disturbance d ,
which is estimated by the disturbance observer,
includes the load torque Tl and the parameter
variation torque ( Kt / J ) ( Kto / J 0 ) I a ref . Here
the load torque Tl consists of friction and exter-
nal force effects in the mechanical system as
follows:
Tl Tc friction Tv friction Text ,
where Tc friction coulomb friction
friction
Tv viscosity friction effect, Text
nal force effect.
This equation means that the output of the dis-
turbance observer is only the friction effect un-
der the constant angular velocity motion.
This feature makes it possible to identify the
friction effect in the mechanical system. The
friction effects are well identified in many cases
as Stribeck friction model [2]. The external force
effect is also identified by using the estimated
disturbance. Here it is assumed that the friction
effects are known beforehand by the above iden-
tification process. By implementing the angular
accelerated motion, the system parameter
Kto / J 0 is adjusted in the observer design so that
it is close to the actual value Kt / J . As a result,
the disturbance observer estimates only the ex-
ternal force effect as follows:
k1
dˆ d
s 2
k2 s k1 Kto / J 0 Kt / J 0
k1 Texternal
2
. (17)
s k2 s k1 J
Conclusions
The identified external force is applicable to
sensorless force feedback control in mechanical
system (for example, building machines) [3] and
is utilized for a realization of mechanical vibra-
tion control as well.
References
1. Gopinath B. On the control of linear multiple
input-output systems//Bell System Tech. J.
– 1971. – Vol. 50. – №. 3. – P. 1063–1081.
2. Southward S., Radcliffe C., MacCluer C. Ro-
bust nonlinear stick-slip friction compensa-
tion // ASME J. Dynamics Syst., Mea-
surement, Contr. – 1991. – Vol. 113. –
P. 639–645.
3. Murakami T., Ohnishi K. Torque sensorless
control in multi-degree-of-freedom mani-
pulator // IEEE Trans. Ind. Electron. –
(16) 1993. – Vol. 40. – № 2.
effect, Рецензент: О.П. Алексеев, профессор, д.т.н.,
ХНАДУ.
exter-
Статья поступила в редакцию 20 июня 2007 г.