Parameter estimation of magazine system considering the coupling characteristics of rigid and flexible components under variable load conditions

Abstract To address the control inaccuracy caused by varying load inertia in a rotary magazine, a joint state‐parameter estimation strategy is proposed. Based on the dual‐mass model considering transmission stiffness, extended state observers (ESOs) were respectively constructed on both the motor side and the load side to reconstruct the unmeasured states and reduce sensor reliance. Design an integral cost function with a forgetting factor to balance parameter tracking and noise suppression. Utilize the auxiliary matrix transformation to achieve a parameter error‐driven adaptive law, which can estimate parameters such as load and transmission stiffness online, and the limitation of persistent excitation conditions is weakened. The simulation and experimental results show that the proposed method can accurately estimate the unmeasured states and disturbances in the rotary magazine. Under five load conditions, positioning accuracy remains stable at 0.001 rad. Compared to PI control, tracking errors are reduced by 20% to 60%, with significantly attenuated oscillations relative to sliding mode control. These findings validate the algorithm's disturbance rejection capability in multi‐load inertia scenarios.