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Method for identifying system containing saturation nonlinearity

A nonlinear system and variance technology, applied in the field of identification of nonlinear systems with saturation, can solve problems such as inability to fully reflect closed-loop characteristics, system identification methods cannot obtain saturation limits, and it is difficult to ensure sufficient excitation of the system, so as to achieve good engineering practicality sexual effect

Inactive Publication Date: 2017-07-14
TSINGHUA UNIV
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Problems solved by technology

[0003] First, when the system is saturated, the output response is affected by the saturation characteristics of the system and cannot fully reflect its true closed-loop characteristics
At this time, if the system’s input command data and output response data are still used directly for routine identification, the correct system model parameters will not be obtained
[0004] Second, the conventional system identification method cannot obtain the saturation limit, and the acquisition of the saturation limit is an important prerequisite for correctly identifying the model parameters of the nonlinear system with saturation
[0005] Third, the traditional frequency sweep excitation only changes the frequency of the input signal but has no requirement on the amplitude. When the system has saturated nonlinearity, it is difficult for the traditional frequency sweep excitation to ensure that the system is fully excited.

Method used

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  • Method for identifying system containing saturation nonlinearity
  • Method for identifying system containing saturation nonlinearity
  • Method for identifying system containing saturation nonlinearity

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with accompanying drawing and example. It should be understood that what is described here is only a specific example of the present invention, and is not intended to limit the protection scope of the present invention. Any equivalent replacement or improvement made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.

[0020] Taking a certain position servo system as an example, its speed saturation limit is ±0.3m / s, and the closed-loop transfer function of the system is,

[0021]

[0022] The system sampling time is 0.001s. Using the method provided by the present invention to identify the above-mentioned system with velocity saturation, the specific steps are as follows:

[0023] S1. Design the input signal to fully excite the system. Here, the sinusoidal frequency sweep signal is selected as the system in...

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Abstract

The invention provides a method for identifying a nonlinear system with saturation, and mainly provides a solution to the problem that conventional system identification methods cannot be directly used for identification of a nonlinear system with saturation. The invention designs the input signal from two aspects of frequency and amplitude to fully excite the system. A method of adding window and scanning to process each state variable of the system is proposed. By screening the variance and average value of each window data, the saturation limit of the system can be identified. According to the obtained saturation limit, the input and output data of the system are screened, and the system model parameters are obtained by using the relevant system identification method. The invention has the advantages of designing the input signal to fully excite the system for a saturated nonlinear system, correctly and effectively identifying the system model parameters, and simultaneously obtaining the system saturation limit value, which has better engineering practicability.

Description

technical field [0001] The invention belongs to the field of system identification, and in particular relates to a method for identifying a saturated nonlinear system. Background technique [0002] In practical applications, most control systems are affected by factors such as limited input energy and limited output amplitude, and usually have saturated nonlinear characteristics. In this case, if the conventional system identification method is directly adopted, the following problems will mainly exist: [0003] First, when the system is saturated, the output response is affected by the saturation characteristics of the system and cannot fully reflect its true closed-loop characteristics. At this time, if the input command data and output response data of the system are still used for conventional identification, the correct system model parameters will not be obtained. [0004] Second, the conventional system identification method cannot obtain the saturation limit, and t...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡爽朱纪洪和阳杨赟杰
Owner TSINGHUA UNIV
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