Table 1 Test cases for simulations (\(J_m\) - value of the modelled J parameter, \(J_r\) - value of the real-life J parameter, \(B_m\) - value of the modelled B parameter, \(B_r\) - value of the real-life B parameter)
Test case | J model inaccurcy | B model inaccuracy | \(M_l\) noise [Nm] | Encoder inaccuracy [rad/s] |
|---|---|---|---|---|
1 | \(J_m=J_r\) | \(B_m=B_r\) | 0.01 | 0.001 |
2 | \(J_m=3J_r\) | \(B_m=B_r\) | 0 | 0 |
3 | \(J_m=0.5J_r\) | \(B_m=B_r\) | 0 | 0 |
4 | \(J_m=J_r\) | \(B_m=B_r+0.3\) | 0 | 0 |
5 | \(J_m=J_r\) | \(B_m=B_r-0.1\) | 0 | 0 |
6 | \(J_m=J_r\) | \(B_m=B_r\) | 0.1 | 0.001 |
7 | \(J_m=J_r\) | \(B_m=B_r\) | 0.01 | 0.01 |