Parameter Identification Method for Motion Systems with Unknown Coulomb Friction.

In this paper, we propose a new parameter identification method for motion systems with unknown Coulomb friction. The proposed method utilizes a disturbance observer to identify parameters such as the momentum of inertia, the viscous coefficient, Coulomb friction and the constant disturbance torque. Estimated disturbance torque is composed of four torque components ; inertia variation torque, viscous torque, Coulomb friction torque and constant disturbance torque. Parameters are identified by deconstructing the estimated disturbance torque into the four torque components mentioned above. To reduce the amount of calculation required for parameter identification, orthogonality relationships among the estimated disturbance torque components mentioned above are used. The experimental results verify the exact parameter identification.