Identification of two-mass mechanical systems in closed-loop speed control

This paper presents a method to identify the parameters of a two-mass mechanical system, when the system is operating in closed-loop speed control. When the speed and the torque controllers are known, the proposed method can be applied for the parameter estimation of a system, which has a higher mechanical resonance frequency than the torque-control loop bandwidth. Moreover, if the loading torque is known a priori, the method may be used for systems that are loaded during the identification.