This paper proposes an identification method for mechanical parameters based on position control. To improve motion control performance, the moment of inertia and friction components must be considered. Based on mechanical equations, the proposed method estimates the moment of inertia, viscous friction coefficient, and Coulomb friction in the off-line state. Mechanical parameters are obtained from the integral values for the products of the torque, speed, and position using the 90° phase relationship between acceleration and velocity. Simulation and experimental results demonstrate the validity and accuracy of the proposed method. Since its implementation is simple, this method can be applied easily to industry.

中文翻译：

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使用正弦命令识别位置控制伺服系统的机械参数

提出一种基于位置控制的机械参数辨识方法。为了提高运动控制性能，必须考虑转动惯量和摩擦分量。该方法基于力学方程，估计离线状态下的转动惯量、粘性摩擦系数和库仑摩擦。机械参数是使用加速度和速度之间的 90° 相位关系从扭矩、速度和位置的乘积的积分值中获得的。仿真和实验结果证明了该方法的有效性和准确性。由于其实现简单，因此该方法可以很容易地应用于工业。