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.

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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DOI: 10.5151/siintec2023-306202

Referências bibliográficas

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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 23577592, DOI 10.5151/siintec2023-306202