未知负载下空间机械臂关节伺服系统参数在线辨识
首发时间:2014-12-30
摘要:空间机械臂运行过程中,关节伺服系统的负载转动惯量和摩擦系数呈现时变特性,现有方法在未知负载转矩的情况下无法完成转动惯量和摩擦系数同时辨识。本文提出一种基于离散模型参考自适应算法的负载转动惯量和摩擦系数在线同时辨识方法,通过对关节伺服系统电机的机械运动方程离散化得到含有转动惯量和摩擦系数的模型自适应参考模型,采用朗道离散时间递推参数辨识机制推导模型自适应率进行参数辨识。最后在matlab环境下,搭建仿真模型,仿真结果证明了在考虑摩擦系数的影响下,负载转动惯量辨识结果更精确,也证明了参数辨识方法的有效性。
关键词: 关节伺服系统 负载转动惯量 摩擦系数辨识 模型参考自适应
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Research on On-line Parameter Identification of Robot Joints with Unknown Load Torque
Abstract:The load inertia and friction coefficient of robot joints servo system changes continuously during space manipulator's operation. The two time-varying parameter can not be estimated at the same time in the case that the load torque is unknown with the existing methods. In order to get the moment of inertia and friction coefficient, online identification methods based on discrete model reference adaptive identification (DMRAI) were developed in this paper. First, the discrete form of mechanical movement equation include the load inertia and friction coefficient is regarded as the difference equation of the reference mode, Landau's discrete time-recursive parameter identification is used to reduce the adaptation mechanism. This method can estimate the inertia and friction coefficient at the same time. The simulation results proved that the identification value of load is more accurate when the friction coefficient is considered and also proved the effectiveness of the parameter identification method.
Keywords: Robot joints servo system load inertiaidentification friction coefficient identification model reference adaptive identification
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