Estimation of DC motor parameters using the least square estimator
Felipe Alberto MEDÉCIGO-CABRIALES, Beatris Adriana Escobedo-Trujillo, Francisco Alejandro Alaffita-Hernández, José Herrera · Journal Mathematical and Quantitative Methods · 2022
The main objective of this work is to present in detail the least squares methodology to estimate the unknown parameters that are part of the mathematical model that represents the behavior of a direct current motor. For this purpose, experimental data of speed and angular position of a direct current (DC) motor with the following characteristics were obtained. DC motor with encoder CN5003-6006, 32 lines of code, 2 output channels: A and B, an approximate weight of 25 g, an operating voltage of 6V/12V (4000/8000 rpm), a current of 30 mA, a shaft diameter of 2mm. The real values of the parameters of the differential equation modeling this motor are R=0.07Ω J=2.05932971x10^(-6) kg*m^2 K_T=0.002559499 (N*m)/A K_b=0.002559499 V/(Rad/s) The estimators obtained show that as the size of the sample (experimental data) grows, the value of the estimator tends to be the real value of the unknown parameter, that is, the estimators found comply with the consistency property, which is a requirement. minimum desirable for an estimator. The determination coefficient was used to analyze the convergence of the estimators found to the real value of the unknown parameter.