Parameters Estimation oftheActuator used inHaptic Interfaces: Comparison oftwo Identification Methods
Flavia Khatounian, Sandrine Moreau, Éric Monmasson, Alexandre Janot, F. Louveau · 2006
fr Abstract - Inadvanced motorcontrol systems, an accurate knowledge ofmotorparameters isessential inordertoachieve goodperformances. Someoftheseparameters, suchasstator resistances, aresometimes given byconstructors, buttheyvary according totheoperating conditions. Thispaperpresents and compares twoparameter identification methodsofanactuator usedinhaptic interfaces which, inthiscase, isa Permanent MagnetSynchronous Machine(PMSM).Usingthesemethods, theelectrical parameters ofthePMSM canbedetermined during different operating conditions. Physical parameters estimation of a dynamic 4-parameter modelisperformed ontheonehand, using anOutputErroridentification methodbasedona Non Linear Programming algorithm andontheother hand,using an identification methodbasedonLeast-Squares techniques and inverse models. l Transmission ^, . ( / ~~~~~~~~reductor