Robot DC Servo Motor Parameters Estimation in a closed loop Using BAT Optimisation Algorithm

摘要

This study is to design and develop a controller to find DC Servo motor parameters by real time step testing method in a closed loop and deploy them to develop application specific controller that can be used with that Robot in real-time. This method is very useful for those robots or machines whose all information has lost. The controller is designed on MATLAB and implemented on TMS320F280049C DSP controller. This application is tested on an old Robot RM-501 Move Master with MACH4 motion control. Furthermore, we used parameter estimation toolbox to find the parameters and system identification to develop a transfer function of the motor. These results are then used to compare and optimise the result using BAT Algorithm.