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Industrial Servo System Introduction The goal of this lab is to investigate how the dynamic response of a closed-loop system can be used to estimate the mass moment of inertia. The investigation will require both estimations and measurements of the disk, weight and motor inertias. To give an estimate of the inertia values, first calculate (by hand) the inertias of the various components in the control loop. Then, as part of the lab, the students will apply a step-input Torque to the disk. Using the dynamic model of the system behavior as well as measured angular acceleration, the actual mass moments of inertia will be found. Hardware Figure 1: ECP Industrial Servo Trainer The Industrial Servo Trainer design shown in Fig. 1 features brushless DC servo motors for both the drive motion and for disturbance generation. It also has high resolution relative encoders, adjustable inertias and changeable gear ratios. It also has features to introduce coulomb and viscous friction, drive train flexibility, and backlash, but these will not be used in the lab (at least, not intentionally). The system is designed to emulate a broad range of typical servo control applications. The Model 220 apparatus consists of a drive motor (servo actuator) that is coupled via a timing belt to a drive disk with variable inertia. Another removable timing belt connects the drive disk to the speed reduction (SR) assembly while a third belt completes the drive train to the load disk. The load and drive disks have variable inertia which may be adjusted by moving (or removing) brass weights. Interchangeable belt pulleys in the SR assembly can also be used to adjust the speed reduction. The first rotating disk is coupled to the drive motor in a one-to-one ratio, so that its inertia may be thought of as being collocated with the motor. The load inertia disk, however, will rotate at a different speed than the drive motor due to the speed reduction. Also, drive flexibility and/or backlash