Physical parameter identification of a one-degree-of-freedom electromechanical system operating in closed loopReportar como inadecuado




Physical parameter identification of a one-degree-of-freedom electromechanical system operating in closed loop - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

1 Toulouse - ONERA - The French Aerospace Lab 2 LGP - Laboratoire Génie de Production 3 CRAN - Centre de Recherche en Automatique de Nancy 4 IFSTTAR-AME-EASE - Environnement, Aménagement, Sécurité et Eco-conception 5 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : This paper deals with the identification of physical parameters of a one-degree-of-freedom electromechanical system that operates in closed loop. Two models are considered: the inverse dynamic model which is linear in relation to the physical parameters to be identified and the direct dynamic model which is linear in relation to a nonlinear combination of the physical parameters. Three methods are considered and compared: the traditional method which makes use of the inverse dynamic model, tailormade data prefiltering and the least-squares method, an instrumental variable approach which makes use of the direct and inverse dynamic models and another instrumental variable approach which makes use of the direct dynamic model only. The experimental results show that the instrumental variable method based on the use of the inverse and direct dynamic models seems to be more appropriate than the two others because it is robust against noise and the physical parameters are directly identified.

Keywords : Closed-loop identification Robot identification Physical parameters Instrumental variable





Autor: Mathieu Brunot - Alexandre Janot - Francisco Carrillo - Huges Garnier - Pierre-Olivier Vandanjon - Maxime Gautier -

Fuente: https://hal.archives-ouvertes.fr/



DESCARGAR PDF




Documentos relacionados