Detection and Reduction of Middle-Frequency Resonance for Industrial Servo with Self-Tuning Lowpass Filter

Table 4

Hardware parameters of the tested platform.

Rotor inertia of the driving/load motor	9.4e−4 kg·m^2
Motor torque coefficient	1.1 Nm/A
Rated current of the motor	6 A
Rated speed of the motor	2000 rpm
Rated power of the motor	1.5 kw
Resolution of the incremental encoder	2500 pulse/round
Spring constant of coupling (max)	About 2000 Nm/rad
Damping coefficient of coupling	About 0.03
Inertia of the inertia plate	2e−3 kg·m^2