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All Journal Mechatronics, Electrical Power, and Vehicular Technology Jurnal Studi Sosial Program Pascasarjana P-IPS Journal of Engineering and Technological Sciences Mesin Indonesian Journal of Electrical Engineering and Computer Science Mechanical Engineering for Society and Industry
Indrawanto
Institut Teknologi Bandung, Indonesia
Aerospace Engineering Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Social Sciences Transportation

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Parameter identification and continuous friction modelling of a brushed DC motor Ahmad’Abdan Syakuro; Vani Virdyawan; Sri Raharno; Indrawanto Indrawanto; Tegoeh Tjahjowidodo
Indonesian Journal of Electrical Engineering and Computer Science Vol 42, No 3: June 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v42.i3.pp699-707

Abstract

Designing high-performance control systems for brushed DC motors is often hindered by the lack of comprehensive dynamic parameters in manufacturer datasheets, particularly for low-cost DC motors. In addition to the parameter identification method, this study also introduces a continuously differentiable friction model incorporating Coulomb and viscous-like behaviors using a hyperbolic tangent function. The electrical and mechanical parameters of an RS-775 motor were identified using standard laboratory tools and the MATLAB system identification toolbox. The proposed model was validated against experimental data under square wave and sinusoidal inputs, achieving a position prediction error of less than 5% and capturing complex dynamic behaviors. The results demonstrate that this accessible identification approach provides a sufficiently accurate dynamic model for educational and industrial robotics applications, offering a superior alternative to trial-and-error tuning.
Co-Authors Ahmad’Abdan Syakuro Asep Indra Komara Bagus Budiwantoro Brussel, H. Van Dedy Ariefijanto Edgar Buwana Sutawika F. Ferryanto H Cahyono H Cahyono, H H. Van Brussel Hoe Dinh Nguyen J Swevers Mahyuddin, Andi Isra Maskun Maskun Mihradi, Sandro Nur Jamiludin Ramadhan Pargito Pargito Rachman Setiawan Raharno, Sri Swevers, J Tegoeh Tjahjowidodo Vani Virdyawan