Parameter estimation on a closed loop nutrunner system by added PRBS disturbance signal

Sammanfattning: This thesis investigated how to perform parameter estimation on an electrical nutrunner operating in closed loop. The purpose for this was to create models that could later be used in design of controllers used in new tightening techniques. The system was divided into two models, one for the electrical motor and one for the driveline, that could be used separately in parameter estimation. Data was collected from both the control system and by an external data acquisition system while the nutrunner was operated in closed loop. A pseudo-random binary sequence signal was added as a disturbance in order to further excite the system such that the internal dynamics of the nutrunner wasforced to show up clearly in the output data.The MATLAB toolbox Simulink Design Optimization was used to perform the parameter estimations and the results were then validated. The validation showed that the sets of estimated parameters were able to simulate the system well, thus supporting the choice ofthe added disturbance signal.