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A Parameter Identification Method for Spatial 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: 2016-11-30
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, in the prior art, these two methods are used alone, and there is no method for how to combine these two identification methods to enhance the identification effect of system parameters

Method used

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  • A Parameter Identification Method for Spatial Coupling Parameter System
  • A Parameter Identification Method for Spatial Coupling Parameter System
  • A Parameter Identification Method for Spatial 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

A parameter identification method of a spatial coupling parameter system of the present invention includes the following steps: Step 1, establishing a multi-input multi-output spatial complex system model including coupling units according to the input-output relationship of the spatial coupling parameter system; The system is divided into several subsystems with coupling parameters, and the parameters to be identified in the linear part and the nonlinear part of each subsystem are the same; step 3, each subsystem is divided into linear sub-sub-systems and nonlinear sub-systems, the same The two-stage hierarchical identification is used to identify the system parameters between the linear sub-subsystem and the nonlinear sub-subsystem under the subsystem, and the identification result of the corresponding subsystem is obtained; The identification result of one subsystem is transferred to the next subsystem, and replaces the identification result of the previous subsystem at the previous moment; step 5, repeat steps 3 and 4 until the identification requirements are output to obtain 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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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/00
Inventor 黄攀峰鹿振宇刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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