仅利用单一速度同时辨识伺服驱动系统中的多个机械参数

In some servo applications, restricted by the measurement noise and the stiffness of the mechanical system, the bandwidth of the disturbance observer cannot be high enough to realize a good robust control to parameters uncertainties, it is essential to identify the mechanical parameters. In the existing mechanical parameter identification methods, the viscous and Coulomb friction torque coefficien...