控制理论与应用2024，Vol.41Issue(8)：1396-1407,12.DOI:10.7641/CTA.2023.20704
电动缸举升伺服机构动力学建模与参数辨识
Modeling & identification of EMA lifting servo mechanism
摘要
Abstract
To solve the problem of difficult identification of dynamic parameters of electric mechanical actuator(EMA)lifting servo mechanism,a cyclic least square identification method with limited memory interval is proposed,which is used to identify and fit the nonlinear model and disturbance parameters of the mechanism in the whole stroke.Firstly,the cause of nonlinear parameters of the complete mechanism model is analyzed,and the corresponding simplified model is proposed;Then,the parameter approximate identification characteristics of the least squares method under the average pose are analyzed,and the cyclic least squares method with limited memory interval is proposed;Finally,by constructing the input and output signals and selecting the identification servo loop,the identification process will not exceed the travel range of the mechanism.The experimental results show that the proposed identification method makes the root mean square error of sinusoidal velocity and displacement response reduce by 59.3％and 84.2％respectively compared with the least square method.The proposed identification method can provide reference for high-precision dynamic modeling of EMA lifting servo mechanisms and the implementation of composite control strategies of controllers and observers.关键词
电动缸举升机构/正交投影定理/记忆区间/循环最小二乘法Key words
EMA lifting mechanism/orthogonal projection theorem/memory interval/cyclic least square method引用本文复制引用
万子平,范世珣,马丽莎,陈宁,任广安,范大鹏..电动缸举升伺服机构动力学建模与参数辨识[J].控制理论与应用,2024,41(8):1396-1407,12.基金项目
国家重点研发计划项目(2019YFB2004700),国家自然科学基金项目(52105077)资助.Supported by the National Key Research and Development Plan(2019YFB2004700)and the National Natural Science Foundation of China(52105077). （2019YFB2004700）
