摘要
精确的动力学模型是进行机电系统设计、控制和系统仿真的重要基础。目前,应用基于现代控制理论和系统辨识技术的系统辨识法获得复杂机电系统动力学模型是当前机电系统设计、控制研究的重点和热点。本文主要介绍模型逼近法用于估计伺服系统的四个物理参数,即死区、惯性、刚度和阻尼。该方法能够实现对所有参数包括阻尼参数的精确识别。该方法具有两大特点:(a)一种基于子系统的模块化方案的提出;(b)运用多项式近似法来描述离散时间系数和物理系统参数之间的关系。尽管该方法是基于离散时间模型的,但可以从离散系数中提取连续时间参数。
dynamic model is the fundament of performing electromechanically system design, control and system simulation. At present, to obtain the complex electromechanically system by means of modern control theory and system identification technology, this is the current critical point of electromechanical system design and control. This paper proposes a unified approach to the estimation of the physical parameters defining both geared and linear resonant systems, namely the dead-zone, inertia, stiffness and damping parameters. The procedure described in this paper is shown to be capable of accurate identification of all the parameters, including the damping coefficients. Significant features of the paper include (1) the development of a new subsystem-based modular approach, and (2) the use of polynomial approximations that describe the relationship between the discrete-time coefficients and the physical system parameters. Although the technique is based on discrete-time models, it allows extraction of the continuous-time parameters from the discrete coefficients.
引文
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