Mechanical Parameter Identification of Servo Systems using Robust Support Vector Regression

Support Vector Regression을 이용한 서보 시스템의 기계적 상수 추정

The overall performance of AC servo system is greatly affected by the uncertainties of unpredictable mechanical parameter variations and external load disturbances. Therefore, to compensate this problem, it is necessary to know different parameters and load disturbances subjected to position/speed control. This paper proposes an online identification method of mechanical parameters/load disturbances for AC servo system using Support Vector Regression (SVR). The proposed methodology advocates analytic parameter regression directly from the training data, rather than adaptive controller and observer approaches commonly used in motion control applications. The experimental results demonstrate that the proposed SVR algorithm is appropriate for control of unknown servo systems even with large measurement noise.