Parameter identification of a separately excited DC motor for speed control

ABSTRACT This paper presents the application of the least error squares (LES) parameter identification algorithm to. obtain parameters of a separately excited DC motor. The parameters of interest are; the resistance and inductance of the armature windings (Ra.Lt). the motor inertia (J), the damping constant (D), the torque and back emf constant (K) and the load torque constant (μ.). The data used are the motor input voltage, and the corresponding rotor speed. It is assumed that the trajectory of the motor speed as well as the corresponding input voltage are known and sampled at a preselected rate. Simulation results for a separately excited dc motor used in robotics are reported showing good agreement with actual parameter values.