Load torque and position observer of the flexible multimass mechanism with electrical drive
Considered is the task of assessing the position of a sequential kinematics mechanism with joint flexibility. To determine the physical position of the elements of the kinematic chain with deformations in flexible joints the load torque estimation method was used. The paper contains an overview of basic approaches to the estimation of drive load torque. The load torque estimating method is proposed, applying direct speed and current signals measurements in PMSM. The proposed method is based on averaged evaluation of load torque on sliding window. The real experiments results are made on flexible multimass mechanism.