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Physical parameter identification of a one-degree-of-freedom electromechanical system operating in closed loop

机译：闭环运行的一自由度机电系统的物理参数识别

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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.
机译：本文研究了闭环运行的一自由度机电系统的物理参数的识别。考虑了两个模型：相对于要识别的物理参数呈线性关系的逆动力学模型和相对于物理参数的非线性组合呈线性关系的直接动力学模型。考虑并比较了三种方法：使用逆动态模型的传统方法，量身定制的数据预过滤和最小二乘法，使用正向和逆动态模型的工具变量方法以及使用以下方法的工具变量方法：仅使用直接动态模型。实验结果表明，基于逆向和直接动态模型的工具变量方法似乎比其他两种方法更合适，因为它对噪声具有鲁棒性并且可以直接识别物理参数。

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