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《Journal of Yunnan University of Nationalities(Natural Sciences Edition)》 2014-01
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DC motor identification based on ARMA model

LIU Li-xin;CAO Yun-feng;ZHUANG Li-kui;WANG Biao;College of Automation,Nanjing University of Aeronautics and Astronautics;College of Advanced Technology,Nanjing University of Aeronautics and Astronautics;  
When identifying the model of the quadrotor,the first is to know the model of the DC motors. Both the torque and the velocity depend on the voltages,and the relationship is governed by the motor's characteristics such as inductance,resistance,the moment of inertia and so on. The traditional modeling relies on mechanism,but it lacks accuracy. Identification modeling is a better replacement. Here,a response is given to the DC motor,and then the output is measured. An Auto Regressive Moving Average( ARMA) model with a steepest descent algorithm is used to minimize the error. In this way,the transfer function has realized. After comparing the step input with the original system,its efficiency can be measured.
【Fund】: 航空科学基金(20110752005)
【CateGory Index】: TM33
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