New motion control with inertia identification function using disturbance observer

In the proposed system, the disturbance observer is used for the inertia identification as well as for disturbance compensation. The inertia value is obtained by using the orthogonality relation among the torque components of the estimated disturbance torque. An inertia term of both the torque feedforward control and the disturbance observer is automatically readjusted by using the identification. The proposed motion control system consists of four parts: velocity feedback control, inertia torque feedforward control, disturbance observer. and inertia identification part. Experimental results show that precise control is achieved by the proposed motion control system