Model identification of a cable-based mechanical transmission for robotics using a Best Linear Approximation approach

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-07-25 DOI:10.1016/j.conengprac.2025.106457

Bassem Boukhebouz , Guillaume Mercère , Mathieu Grossard , Édouard Laroche

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引用次数: 0

Abstract

This article presents an experimental approach for frequency-based identification and excitation signal design to be used for identifying the mechanical motor-to-joint cable-based transmission of a robotic actuation system. By using the Best Linear Approximation (BLA) theory, frequency responses are estimated and nonlinear distortions are mitigated. The identification process is performed in closed-loop to ensure system stability, with multisine excitation signals designed to respect system constraints. The paper presents a technique for enhancing the accuracy of estimated frequency responses when dealing with signal saturation in a closed-loop system. This approach involves shaping the multisine excitation to enhance the Crest Factor of the control signal. The study includes experimental results from non-parametric frequency identification conducted on a test bench, and a parametric model is derived using a non-convex optimization method.

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基于最佳线性逼近方法的机器人缆索机械传动模型辨识

本文提出了一种基于频率的识别和激励信号设计的实验方法，用于识别机器人驱动系统的机械电机到关节电缆传输。利用最佳线性近似（BLA）理论，估计了频率响应，减轻了非线性失真。辨识过程在闭环中进行，以确保系统的稳定性，多正弦激励信号的设计尊重系统的约束。本文提出了一种在处理闭环系统信号饱和时提高估计频率响应精度的方法。该方法包括对多正弦激励进行整形以提高控制信号的波峰系数。该研究包括在试验台进行的非参数频率辨识实验结果，并采用非凸优化方法推导参数模型。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.