# Identification of Dynamic Parameters in a DC Motor Using Step and Ramp Torque Response Methods

## TL;DR

This paper introduces two practical methods to estimate DC motor parameters using step and ramp torque responses, improving control performance in robotic systems.

## Contribution

The novelty lies in the analytical, low-cost parameter identification methods using step and ramp torque responses without computational overhead.

## Key findings

- The step and ramp torque methods accurately estimate inertia and friction parameters in DC motors.
- Experimental validation confirms the effectiveness of the identified parameters in enhancing motor control performance.

## Abstract

DC motors play a fundamental role in robotic and mechatronic systems applied to the manufacturing industry; but broadly speaking, they are necessary in any system where motion is required. In these types of applications, precise control of position and speed is essential. To achieve this, accurate estimation of dynamic parameters such as inertia, viscous friction, and Coulomb friction is necessary to design efficient and sustainable control strategies. This study presents two methodologies for parameter identification based on the analysis of angular position data from a DC motor. The first method uses a constant (step) torque input, while the second is based on ramp excitation. The proposed method is entirely analytical, that is, it is based on the behavior of the system’s responses to the inputs; this makes the procedure practical and does not require computational cost. The experimental platform integrates a hardware-in-loop (HIL) system that allows for real-time acquisition and actuation, with responses processed in MATLAB/Simulink R2022a to provide the basis for estimating the inertia and friction parameters. To validate the values of the physical parameters, a closed-loop proportional-integral (PI) speed control system was implemented. The results confirm the accuracy and consistency of the identified parameters, highlighting their applicability for improving motor control performance in a wide range of robotic applications.