Identification of the linear and nonlinear parameters of an electro-mechanical system

A typical servomechanism is composed basically by an amplification unit, a motor, a gear and the load. Apart from these basic units, sensors are attached to the load or to the motor in order to measure the respective position or velocity. These measurements are used to control the plant, usually by means of a digital computer. In many cases, like in precise controller design and in exact dynamic simulation, a good model of the overall plant, in which all the physical parameters are estimated, is needed. The authors present a procedure for the identification of: the linear parameters of the motor and load inertias, gains, viscous friction, elasticity and molecular damping factor; the nonlinear parameters of static and dynamic Coulomb friction and backlash; and the disturbances detente, cogging and unbalance