Parameters Estimation of the Actuator used in Haptic Interfaces: Comparison of two Identification Methods

In advanced motor control systems, an accurate knowledge of motor parameters is essential in order to achieve good performances. Some of these parameters, such as stator resistances, are sometimes given by constructors, but they vary according to the operating conditions. This paper presents and compares two parameter identification methods of an actuator used in haptic interfaces which, in this case, is a permanent magnet synchronous machine (PMSM). Using these methods, the electrical parameters of the PMSM can be determined during different operating conditions. Physical parameters estimation of a dynamic 4-parameter model is performed on the one hand, using an output error identification method based on a non linear programming algorithm and on the other hand, using an identification method based on least-squares techniques and inverse models