Simultaneous Identification of the Initial Rotor Position and Electrical Parameters of a PMSM for a Haptic Interface

A haptic system consists in an articulated mechanical structure with motors and position sensors, as well as embedded electronics allowing force feedback. It is driven by a haptic interface, which enables the user to interact with an image in a virtual reality application, through the sense of touch. This paper presents a simple identification protocol using inverse models and least-squares techniques. It simultaneously estimates the initial motor/encoder setting angle essential to obtain the best dynamic behavior of the system and the electrical parameters of the permanent magnet synchronous machine driving the interface. This identification is necessary in the case of unknown parameters to achieve a robust control strategy of the overall system in terms of transparency and stiffness