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Article Dans Une Revue taylor and francis group Année : 2017

Global Identification of Mechanical and Electrical Parameters of Asynchronous Motor Driven Joint with a Fast CLOE Method

Maxime Gautier

Résumé

In many cases of new actuation of compliant controlled or bio-inspired joint driven robot, a global identification of electrical and mechanical coupled dynamics is required. This paper proposes a technique which mixes a closed loop output error method with the inverse dynamic identification model method, which allows for the use of linear least-squares technique to estimate the parameters. A first approach which has been validated on a DC motor achieves a decoupled identification of the electrical and mechanical dynamics but fails to make a simultaneous identification. A major improvement of that method is proposed to carry out the coupled identification of both mechanical and electrical parameters. A validation on an asynchronous motor driven joint shows the effectiveness of the new procedure.
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Dates et versions

hal-01536405 , version 1 (11-06-2017)

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Pierre-Philippe Robet, Maxime Gautier. Global Identification of Mechanical and Electrical Parameters of Asynchronous Motor Driven Joint with a Fast CLOE Method. taylor and francis group, 2017, ⟨10.1080/09398368.2015.11835470⟩. ⟨hal-01536405⟩
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