Method for automatically estimating inertia in a mechanical system
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United States of America Patent
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Apr 29, 2014
Grant Date -
Oct 24, 2013
app pub date -
Apr 20, 2012
filing date -
Apr 20, 2012
priority date (Note) -
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status (Latency Note)
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Abstract
Systems and methods for estimating an inertia and a friction coefficient for a controlled mechanical system are provided. In one or more embodiments, an inertia estimator can generate a torque command signal that varies continuously over time during a testing sequence. The velocity of a motion system in response to the time-varying torque command signal is measured and recorded during the testing sequence. The inertia estimator then estimates the inertia and/or the friction coefficient of the motion system based on the torque command data sent to the motion system and the measured velocity data. In some embodiments, the inertia estimator estimates the inertia and the friction coefficient based on integrals of the torque command data and the velocity data.
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