Parameters Identification Of Mechatronic System Based On Interval Analysis Theory

Accurate dynamic model is the fundament of performing electromechanically system design, control and system simulation. At present, to obtain the complex electromechanically system by means of modern control theory and system identification technology, this is the current critical point of electromechanical system design and control. The two basic problems need to be solved when to obtain the dynamic model of electromechanical system by means of system identification: one is to establish the parameter model of mechatronic system; another one is to identify the unknown parameters by studying on the method of system identification. There is without unity during the process of establishing identification model, since different mechatronic system or different engineering background may be required different identification model. However, there is unity in researching on parameter identification method, i.e. the research on different identification model could use the same parameter identification method. Therefore, to make a research on parameter identification method is of great significant to establish dynamic model of mechatronic system. To perform parameter identification of complex mechatronic system by using interval arithmetic has good prospect in engineering application of solving control system design, and this also attached importance from domestic and overseas scholars in recent years.It mainly contains there parts in this thesis:1. Studying with the interval analysis theory and the system identification. And a new system parameter identification method which is based on the interval analysis theory is put forward. Firstly, system parameter identification problem is explained by an interval mathematic model based on interval analysis theory, and then interval arithmetic is proposed to identify the parameter of the interval mathematic model.2. Dynamic parameters identification of a degrees-of-freedom plane robot based on interval analysis. The estimated values of the parameters are studied by a test-bed. And the result shows that interval analysis is a good method to solve the robot dynamic parameters identification problems.3. Parameters identification of a pneumatic servo positioning system which is used in a BirthSIM robot based on interval analysis. Study with the parameters of the pneumatic servo positioning system model for the design and control. A new parameter identification method based on interval analysis is put forward in this thesis. And then it is used to identify the robot dynamic parameters, the experimental result are presented for a two degrees-of-freedoms robot, the results is shown that this method is viable for the robot dynamic parameters identification problem. At the end of paper, the new method is used in the design of a pneumatic servo positioning system.