一种板球系统的Box-Jenkins模型辨识研究  

Identification on a Box-Jenkins model for a ball and plate system

作　　者：夏泽雨[1] 崔世钢[1] 耿立辉[1] 

机构地区：[1]天津职业技术师范大学天津市信息传感与智能控制重点实验室,天津300222

出　　处：《天津职业技术师范大学学报》2016年第1期1-5,共5页Journal of Tianjin University of Technology and Education

基　　金：国家自然科学基金资助项目(61203119);天津市自然科学基金重点项目(14JCZDJC36300);天津市高等学校科技发展基金资助项目(20130824);天津职业技术师范大学科研发展基金资助项目(RC14-48;KYQD03010)

摘　　要：板球系统是一种典型的非线性多变量系统,是先进控制理论、系统辨识和状态估计等方法的典型验证平台,其主要功能是让小球在平板上按照期望的轨迹运行。由于机器老化,先前的机理模型已不能表示板球系统的动态特性。为保证控制精度,为板球系统后期先进控制器的设计提供模型依据,本文将已有的关于离散系统的BoxJenkins模型辨识技术,推广应用到连续时间板球系统的模型中,利用参考输入信号的方法设计出持续激励作为输入信号,采用辅助变量法和最小二乘法来分别辨识板球系统模型和噪声模型,利用双线性变换得出板球系统的连续时间Box-Jenkins模型,通过数值仿真实例,验证了这种方法的有效性。A ball and plate system is a kind of typical and nonlinear system, which is also a multi- input and multi-output（MIMO） system. A ball and plate system is a typical test platform for advanced control theory, system identification, state estimation method and so on, and its main function is to make the ball run according to the desired trajectory on the plate.Because of the existence of the machine′s friction and aging, the mechanism of the previous model cannot express the true model of a ball and plate system. In order to ensure the control precision, and provide the cricket system for later advanced controller design, according to the model, the existing discrete system on the Box-Jenkins model identification technology is applied and popularized to continuous time cricket system model,the reference input signal is used to design sustained excitation as the input signal, and the instrumental variable method and least square method are used to estimate the cricket system model and noise model. By using bi-linear transform that cricket system of continuous time Box-Jenkins model, a numerical simulation example is given to verify the validity.

关 键 词：板球系统 Box-Jenkins模型 辅助变量法 最小二乘法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]