DocumentCode
2800232
Title
Parameter estimation of thruster motor for underwater robot through weighted least square method
Author
Zhifei, Chen ; Yuejun, An ; Hongmei, Li ; Changzhi, Sun
Author_Institution
School of Electr. Eng., Shenyang Univ. of Technol., China
Volume
2
fYear
2003
fDate
8-13 Oct. 2003
Firstpage
1007
Abstract
This paper presents a weighted least square identification approach to estimate the parameters of an underwater robot thruster motor rated at 0.45ph from off-line dynamic characters. The motor equivalent circuit and mechanical model linear parameters and the nonlinear saturated parameters are estimated. Simulation is studied to validate the accuracy of the identified motor model including the saturation based on the measured dynamic starting performance data.
Keywords
DC motor drives; equivalent circuits; least squares approximations; mobile robots; parameter estimation; permanent magnet motors; underwater vehicles; least square method; motor equivalent circuit; parameter estimation; thruster motor; underwater robot; DC motors; Electric machines; Gears; Least squares methods; Parameter estimation; Permanent magnet motors; Robots; Servomotors; Synchronous motors; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN
0-7803-7925-X
Type
conf
DOI
10.1109/RISSP.2003.1285726
Filename
1285726
Link To Document