Inertia Identification of Mechatronic Servo Systems with Infinitesimal Motions

An algorithm to identify the inertia of mechatronic servo systems with infinitesimal motions is proposed. The proposed algorithm utilizes a position control with sinusoidal position reference input, and identifies total inertia of the motor and a mechanical load attached to the motor based on the amplitude of motor position at steady state. The proposed algorithm is suitable for the off-line inertia identification used in the preparatory period of mechatronic servo systems with limited strokes. Inertia is identified for two mechatronic servo systems in simulations and experiments, and the effectiveness of the proposed algorithm on mechatronic servo systems with limited strokes is demonstrated.