Moment of Inertia Identification Using the Time Average of the Product of Torque Reference Input and Motor Position

This paper is concerned with moment of inertia identification of mechatronic servo systems with limited strokes. The moment of inertia identification algorithm proposed in this paper utilizes periodic position reference input, and identifies moment of inertia of mechatronic servo systems based on the time average of the product of torque reference input and motor position. Simulations and experiments on two mechatronic servo systems suggest the effectiveness of the proposed algorithm on mechatronic servo systems with limited strokes.