系统辨识在轮式移动机器人转向系统中的应用

作者：汪 洋,项占琴 日期：2007-08-31/span> 浏览：3094 查看PDF文档

                                               系统辨识在轮式移动机器人转向系统中的应用
                                                                  汪 洋,项占琴
                                     (浙江大学 现代制造工程研究所，浙江 杭州 310027)

摘 要：应用系统辨识方法对轮式移动机器人转向系统的数学模型进行了研究。首先对系统施加合适的输入信号，记录系统的输出信号，并进行试验建模，最后推导出被控对象的数学模型。经过验证，辨识模型能够反映实际系统的特性，这种辨识方法是研究轮式移动机器人转向系统特性的一种可行方法。
关键词：系统辨识；转向系统；最小二乘法

                         Application of system identification in turning control system of wheeled mobile robot
                                                                               WANG Yang, XIANG Zhanqin
                       (Institute of Advance Manufacturing Engineering, Zhejiang University, Hangzhou 310027, China)

Abstract: The turning systems mathematic model by system identification method was studied. At the beginning, appropriate input signal was designed and output signal of system was gotten. Accordingly the experiment model of total system was established and controlled objects model was deduced. The identification model can represent the real systems characteristics by validating experiment and the identification method is feasible to study turning system of the wheeled mobile robot.
Key words: system identification; turning system; least square method

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