Parameter identification method for space coupling parameter system

A space coupling and parameter identification technology, applied in the field of system parameter identification, can solve problems such as methods to enhance the effect of system parameter identification

Active Publication Date: 2014-07-30
NORTHWESTERN POLYTECHNICAL UNIV
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However, in the prior art, these two methods are used alone, and there is no method for how to c

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  • Parameter identification method for space coupling parameter system
  • Parameter identification method for space coupling parameter system
  • Parameter identification method for space coupling parameter system

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Embodiment Construction

[0046] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

[0047] The present invention proposes a parameter identification method for a space coupling parameter system, the flow chart of the algorithm is as follows figure 1 shown, including the following five steps:

[0048] Step 1. According to the input-output relationship of the spatially coupled parameter system, a multi-input multi-output space complex system model including coupling units is established:

[0049] A(z)Y(t)=B(z)U(t)+C(z)F(U(t))+v(t) (1)

[0050] Among them, Y(t)=[y 1 (t),y 2 (t),...,y m (t)] T is the system output vector, U(t)=[u 1 (t), u 2 (t),...,u m (t)] T is the input vector of the system, F(U(t)) represents the nonlinear combination vector of the input vector U(t), z -1 is the unit backward shift operator [z -1 y(t)=y(t-1), zy(t)=y(t+1)], A(z) and B(z) are the un...

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Abstract

The invention discloses a parameter identification method for a space coupling parameter system. The method comprises the following steps that 1, a multi-input multi-output space complex system model including a coupling unit is built according to the input and output relation of the space coupling parameter system; 2, a space complex system is divided into a plurality of subsystems with coupling parameters, and the parameters, to be identified, of the linear portions and the non-linear portions of the subsystems are identical; 3, each subsystem is divided into a linear subsystem and a non-linear subsystem, the system parameters of the linear subsystem and the non-linear subsystem of the same subsystem are identified through two-stage hierarchical identification, and the identification results of the corresponding subsystems are obtained; 4, according to the dividing sequence of the subsystems of the space complex system, the identification result of each subsystem is transmitted to the next subsystem, and replaces the identification result of the last subsystem at the last moment; 5, the step 3 and the step 4 are repeated until the identification requirement is met to output the identification result.

Description

technical field [0001] The invention belongs to the field of system parameter identification, and in particular relates to a parameter identification method of a space coupling parameter system. Background technique [0002] Space complex systems often contain more units of the same structure, such as six-dimensional acceleration sensors for humanoid robot wrists and multi-arm space robots. These structural units can be regarded as a multiple-input multiple-output system with coupling items. Such systems are called spatially coupled parametric systems. If the parameter identification of the system is carried out directly, it will involve the inversion of a large number of complex matrices. At the same time, there may be linear items and nonlinear items in the large system, and multiple state variables and parameter variables may be involved in the nonlinear items. At present, the parameterization method is generally used for nonlinear systems, but this method will also grea...

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Application Information

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IPC IPC(8): G05B13/00
Inventor 黄攀峰鹿振宇刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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