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Inertia identification with two coupled motors + MCUs

Borja Gomez88
Intellectual 715 points

Hello!

I am working with a steer by wire system. This system has to be fault tolerant so it includes two motors (controlled with InstaSpin) with two independent uCs. I would like to run the inertia identification lab (5C) and I do not really know the way to procedure. Do I have to decoupled the second motor to run this lab? This would let me to tune the system for a single motor, but what would happens when the second motor was inserted?

Another doubt:

What should be the way to translate the identified inertia and friction to si units? I would like to tune a feedforward controller and this parameters would be very useful to do that.

Thank you in advance

Borja

  • 0
    Guru 12800 points
    Borja,

    You should be able to do the inerita identification with both motors coupled provided that the 2nd motor was not actively driving the coupled shaft.

    There is information about converting identified inertia and friction from the identified units into si units in the User's Guide.