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Experimental verification of nonlinear system model parameter identification based on trajectory pattern method.

机译：基于轨迹模式方法的非线性系统模型参数辨识实验验证。

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摘要

The purpose of this thesis was to verify the Trajectory Pattern Method (TPM) based nonlinear system model parameter identification method for a two degrees of freedom closed loop planar robotic manipulator. The systematic procedure and the mathematical proof of convergence of the method were introduced first. A model based feedforward control system was constructed for the control of the planar manipulator. The software of the control system was implemented. Experiments were performed to demonstrate the effectiveness of the TPM based parameter identification method.;The experimental results, which can be extended to a large class of nonlinear mechanical systems whose models are linear with respect to their model parameters, showed that the estimated parameters were getting closer to their nominal values during the parameter updating process. As the kinematics and dynamics parameters of the system approached their nominal values, the model based feedforward control system would control the system better. The integral of the squared errors of the outputs were calculated to show that the overall control performance was improved after each parameter updating step. The principle conclusion drawn from the experiment revealed that the developed parameter identification method was very effective on the highly nonlinear dynamic system.
机译：本文的目的是验证一种用于两自由度闭环平面机器人的基于轨迹模式法（TPM）的非线性系统模型参数辨识方法。首先介绍了该方法的系统过程和收敛的数学证明。构建了基于模型的前馈控制系统，用于控制平面机械臂。实现了控制系统的软件。实验证明了基于TPM的参数辨识方法的有效性。实验结果可以推广到模型参数相对于模型线性的一类非线性机械系统，表明所获得的估计参数越来越准确。在参数更新过程中更接近其标称值。当系统的运动学和动力学参数接近其标称值时，基于模型的前馈控制系统将更好地控制系统。计算输出的平方误差的积分，以表明在每个参数更新步骤之后，总体控制性能得到了改善。从实验得出的原理结论表明，所开发的参数识别方法在高度非线性的动力学系统上非常有效。

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  • 作者

    Chen, Xiao.;

  • 作者单位

    State University of New York at Stony Brook.;

  • 授予单位 State University of New York at Stony Brook.;
  • 学科 Engineering Electronics and Electrical.;Engineering Mechanical.
  • 学位 M.S.
  • 年度 2010
  • 页码 88 p.
  • 总页数 88
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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