Outubro 2023 vol. 10 num. 5 - IX Simpósio Internacional de Inovação e Tecnologia

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SYSTEM IDENTIFICATION OF A SERVOMOTOR USING ARX MODEL FOR VIRTUAL SPEED SENSING

SYSTEM IDENTIFICATION OF A SERVOMOTOR USING ARX MODEL FOR VIRTUAL SPEED SENSING

Calmon, João Gabriel da A. ; Mendes, João Vítor S. ; Cajueiro, Emanuel Benício de A. ;

Full article:

This paper presents the application of dynamic system identification methodology to obtain a mathematical model for estimating the rotor speed of a servomotor based on a PWM signal. Velocity control is frequently combined with position control to enhance dynamic system response and enable optimal control. The model acts as a virtual sensor and uses an autoregressive model with exogenous inputs (ARX) due to system's weakly nonlinear traits. During validation, the estimated ARX model successfully inferred servomotor speed with 97.85% accuracy compared to real system's measured signal. The methodology demonstrated effectiveness in speed estimation for various systems with low complexity and cost velocity control, supporting the possibility of replacing conventional sensors with mathematical models.

Full article:

This paper presents the application of dynamic system identification methodology to obtain a mathematical model for estimating the rotor speed of a servomotor based on a PWM signal. Velocity control is frequently combined with position control to enhance dynamic system response and enable optimal control. The model acts as a virtual sensor and uses an autoregressive model with exogenous inputs (ARX) due to system's weakly nonlinear traits. During validation, the estimated ARX model successfully inferred servomotor speed with 97.85% accuracy compared to real system's measured signal. The methodology demonstrated effectiveness in speed estimation for various systems with low complexity and cost velocity control, supporting the possibility of replacing conventional sensors with mathematical models.

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Palavras-chave: dynamic system identification, velocity control, servomotor,

Palavras-chave: dynamic system identification, velocity control, servomotor,

DOI: 10.5151/siintec2023-306202

Referências bibliográficas
  • [1] JIN, Shanhai; KIKUUWE, Ryo; YAMAMOTO, Motoji. Improving velocity feedback for position control by using a discrete-time sliding mode filtering with adaptive windowing. Advanced robotics, v. 28, n. 14, p. 943-953, 2014. ALY, Ayman A. Modeling and control of an electro-hydraulic servo motor applying velocity feedback control strategy. In: International Mechanical Engineering Conference, IMEC. 2004. WAHRBURG, Arne; LISTMANN, Kim. MPC-based admittance control for robotic manipulators. In: 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE, 2016. p. 7548-7554. MORENO, Javier; KELLY, Rafael; CAMPA, Ricardo. On manipulator velocity control using friction compensation. In: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No. 02CH37292). IEEE, 2002. p. 3417-3422. MOKHLIS, Salah-eddine; SADKI, Said; BENSASSI, Bahloul. System identification of a dc servo motor using arx and armax models. In: 2019 International Conference on Systems of Collaboration Big Data, Internet of Things & Security (SysCoBIoTS). IEEE, 2019. p. 1-4. SANTANA, Eudemario S. de; BIM, Edson; AMARAL, Wagner C. Algoritmo preditivo baseado em modelo aplicado ao controle de velocidade do motor de indução. Sba: Controle & Automação Sociedade Brasileira de Automatica, v. 19, p. 155-164, 2008. CAJUEIRO, Emanuel Benício de Almeida.; KALID, Ricardo de Araújo; SCHNITMAN, Leizer. Inferindo posição de haste de bombeio mecânico a partir de corrente de motor. In: Anais do X Congresso Brasileiro de Inteligência Computacional (CBIC'11), Fortaleza-CE. 201
Como citar:

Calmon, João Gabriel da A. ; Mendes, João Vítor S.; Cajueiro, Emanuel Benício de A. ; "SYSTEM IDENTIFICATION OF A SERVOMOTOR USING ARX MODEL FOR VIRTUAL SPEED SENSING", p. 408-414 . In: . São Paulo: Blucher, 2023.
ISSN 2357-7592, DOI 10.5151/siintec2023-306202

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