Abstract:
Identification of system parameters of a small DC
motor is a complex and challenging task. This research proposes
a disturbance observer (DOB) based novel Change of Inertia
Observer (CIOB) to estimate the moment of inertia of a DC
motor. Moment of inertia of a small DC motor is estimated using
CIOB based velocity test and reaction torque observer (RTOB)
based inverse motion acceleration test, and the results are
compared with conventional acceleration and deceleration
motion tests. These two conventional tests are more suitable for
large DC motors and less accurate for small DC motors. DOB is
used to estimate the disturbance torques and CIOB is to find the
change of inertia. Estimated moments of inertia values using the
proposed methods are compared with the conventional methods
by applying the values to a bilateral teleoperation system.
Proposed methods have produced better results than in the
conventional methods. Proposed CIOB method of inertia
estimation is much simpler and easier to use compared to
conventional methods.
