伺服系统弹性负载的闭环辨识方法

为有效解决机械谐振问题,伺服系统弹性负载的辨识是非常关键的步骤.本文以工业中最常见的双惯量系统作为辨识对象设计闭环辨识方法,使用伪随机二进制序列作为激励并采集电机电流转速信号.在此基础上,使用最小二乘法拟合系统的自回归移动平均模型,并提高模型阶次以保证拟合精度.为抑制采样噪声的影响,提出基于平衡截断的模型降阶方法,根据Hankel奇异值大小判断系统阶次并提取主要模态.最后,通过仿真和实验进行验证,结果表明:相比于传统辨识方法,本文所提出的辨识方法能够有效抑制噪声干扰,具有更高的精度....

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Published in控制理论与应用 Vol. 40; no. 3; pp. 468 - 476
Main Authors 郑立楷, 吴玉香, 王孝洪, 黄淇松
Format Journal Article
LanguageChinese
Published 华南理工大学自动化科学与工程学院,广东广州510640 01.03.2023
Subjects
模型降阶
机械谐振
最小二乘法
系统辨识
Online AccessGet full text
ISSN1000-8152
DOI10.7641/CTA.2022.11058

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Abstract 为有效解决机械谐振问题,伺服系统弹性负载的辨识是非常关键的步骤.本文以工业中最常见的双惯量系统作为辨识对象设计闭环辨识方法,使用伪随机二进制序列作为激励并采集电机电流转速信号.在此基础上,使用最小二乘法拟合系统的自回归移动平均模型,并提高模型阶次以保证拟合精度.为抑制采样噪声的影响,提出基于平衡截断的模型降阶方法,根据Hankel奇异值大小判断系统阶次并提取主要模态.最后,通过仿真和实验进行验证,结果表明:相比于传统辨识方法,本文所提出的辨识方法能够有效抑制噪声干扰,具有更高的精度.
AbstractList 为有效解决机械谐振问题,伺服系统弹性负载的辨识是非常关键的步骤.本文以工业中最常见的双惯量系统作为辨识对象设计闭环辨识方法,使用伪随机二进制序列作为激励并采集电机电流转速信号.在此基础上,使用最小二乘法拟合系统的自回归移动平均模型,并提高模型阶次以保证拟合精度.为抑制采样噪声的影响,提出基于平衡截断的模型降阶方法,根据Hankel奇异值大小判断系统阶次并提取主要模态.最后,通过仿真和实验进行验证,结果表明:相比于传统辨识方法,本文所提出的辨识方法能够有效抑制噪声干扰,具有更高的精度.
Author 黄淇松
郑立楷
王孝洪
吴玉香
AuthorAffiliation 华南理工大学自动化科学与工程学院,广东广州510640
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HUANG Qi-song
WU Yu-xiang
ZHENG Li-kai
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Keywords 模型降阶
机械谐振
最小二乘法
系统辨识
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Snippet 为有效解决机械谐振问题,伺服系统弹性负载的辨识是非常关键的步骤.本文以工业中最常见的双惯量系统作为辨识对象设计闭环辨识方法,使用伪随机二进制序列作为激励并采集电机...
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Title 伺服系统弹性负载的闭环辨识方法
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