| 含非线性摩擦的伺服系统连续模型直接辨识 |
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| 引用本文： | 甘明刚,宫伟光,张国柱,陈杰,蔡涛.含非线性摩擦的伺服系统连续模型直接辨识[J].北京理工大学学报,2010(S1):86-90. |
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| 作者姓名： | 甘明刚 宫伟光 张国柱 陈杰 蔡涛 |
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| 作者单位： | 北京理工大学 自动化学院,北京 100081;复杂系统智能控制与决策教育部重点实验室, 北京 100081;北京理工大学 自动化学院,北京 100081;复杂系统智能控制与决策教育部重点实验室, 北京 100081;北京理工大学 自动化学院,北京 100081;复杂系统智能控制与决策教育部重点实验室, 北京 100081;北京理工大学 自动化学院,北京 100081;复杂系统智能控制与决策教育部重点实验室, 北京 100081;北京理工大学 自动化学院,北京 100081;复杂系统智能控制与决策教育部重点实验室, 北京 100081 |
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| 基金项目： | 国家杰出青年基金资助项目(60925011) |
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| 摘 要： | 为准确描述伺服系统的动态特性与摩擦非线性,提出了一种非线性连续模型直接辨识方法. 该方法以离散输入输出数据与速度方向的逻辑值作为辨识输入,通过等价变换将未知参数都转移到模型的线性部分中,再运用基于状态变量滤波器的直接辨识法求得未知参数,从而获得伺服系统的非线性连续模型. 通过仿真及在双向转台伺服系统的实验表明,该方法在有噪声的情况下仍能准确辨识出非线性连续模型,能准确描述伺服系统的动态特性.
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| 关 键 词： | 系统辨识 伺服系统 连续模型 非线性模型 |
| 收稿时间： | 2010/3/30 0:00:00 |
Direct Identification for the Continuous Models of Servo Systems with Friction Nonlinearity |
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| GAN Ming-gang,GONG Wei-guang,ZHANG Guo-zhu,CHEN Jie and CAI Tao.Direct Identification for the Continuous Models of Servo Systems with Friction Nonlinearity[J].Journal of Beijing Institute of Technology(Natural Science Edition),2010(S1):86-90. |
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| Authors: | GAN Ming-gang GONG Wei-guang ZHANG Guo-zhu CHEN Jie and CAI Tao |
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| Institution: | School of Automation, Beijing Institute of Technology, Beijing 100081, China;Education Ministry Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;Education Ministry Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;Education Ministry Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;Education Ministry Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;Education Ministry Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | |
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| Keywords: | system identification servo system continuous model nonlinear model |
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