用滑动DFT估计集总质量-弹簧系统的刚度

Foeke Vanbecelaere, M. Monte, K. Stockman
{"title":"用滑动DFT估计集总质量-弹簧系统的刚度","authors":"Foeke Vanbecelaere, M. Monte, K. Stockman","doi":"10.1109/ICM54990.2023.10102017","DOIUrl":null,"url":null,"abstract":"Obtaining an accurate parametric model of a mechanism enables optimised control. System identification through noise injection is a common method for obtaining frequency responses which are suited for control design, but not for feedforward control and motion profile optimisation as the response is non-parametric. Especially when the mechanism consists of multiple sources of flexibility, extracting parameters from frequency responses is challenging and often requires model order reduction. Moreover, if the parameters are either time or position-dependent, an on-line estimator is required for enabling adaptive control and optimisation. This paper therefore presents a computationally efficient approach, based on the sliding Discrete Fourier Transform, for tracking stiffness during operation. A lumped mass-spring system with 4 degrees of freedom is used as a proof of concept. Through simulations, the expected accuracy of the developed estimator is analysed and its ability to deal with noise is demonstrated.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Stiffness estimation of a lumped mass-spring system using sliding DFT\",\"authors\":\"Foeke Vanbecelaere, M. Monte, K. Stockman\",\"doi\":\"10.1109/ICM54990.2023.10102017\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Obtaining an accurate parametric model of a mechanism enables optimised control. System identification through noise injection is a common method for obtaining frequency responses which are suited for control design, but not for feedforward control and motion profile optimisation as the response is non-parametric. Especially when the mechanism consists of multiple sources of flexibility, extracting parameters from frequency responses is challenging and often requires model order reduction. Moreover, if the parameters are either time or position-dependent, an on-line estimator is required for enabling adaptive control and optimisation. This paper therefore presents a computationally efficient approach, based on the sliding Discrete Fourier Transform, for tracking stiffness during operation. A lumped mass-spring system with 4 degrees of freedom is used as a proof of concept. Through simulations, the expected accuracy of the developed estimator is analysed and its ability to deal with noise is demonstrated.\",\"PeriodicalId\":416176,\"journal\":{\"name\":\"2023 IEEE International Conference on Mechatronics (ICM)\",\"volume\":\"9 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-03-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 IEEE International Conference on Mechatronics (ICM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICM54990.2023.10102017\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 IEEE International Conference on Mechatronics (ICM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICM54990.2023.10102017","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

获得机构的精确参数模型可以实现优化控制。通过噪声注入进行系统识别是一种获得频率响应的常用方法,这种方法适用于控制设计,但不适用于前馈控制和运动轮廓优化,因为响应是非参数的。特别是当机构由多个灵活性源组成时,从频率响应中提取参数具有挑战性,并且通常需要降低模型阶数。此外,如果参数是时间或位置相关的,则需要在线估计器来实现自适应控制和优化。因此,本文提出了一种基于滑动离散傅里叶变换的计算效率高的方法来跟踪运行过程中的刚度。用一个4自由度的集总质量-弹簧系统作为概念的证明。通过仿真,分析了该估计器的期望精度,并验证了其处理噪声的能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Stiffness estimation of a lumped mass-spring system using sliding DFT
Obtaining an accurate parametric model of a mechanism enables optimised control. System identification through noise injection is a common method for obtaining frequency responses which are suited for control design, but not for feedforward control and motion profile optimisation as the response is non-parametric. Especially when the mechanism consists of multiple sources of flexibility, extracting parameters from frequency responses is challenging and often requires model order reduction. Moreover, if the parameters are either time or position-dependent, an on-line estimator is required for enabling adaptive control and optimisation. This paper therefore presents a computationally efficient approach, based on the sliding Discrete Fourier Transform, for tracking stiffness during operation. A lumped mass-spring system with 4 degrees of freedom is used as a proof of concept. Through simulations, the expected accuracy of the developed estimator is analysed and its ability to deal with noise is demonstrated.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信