Improved Identification of Mechanical Multibody Systems From Discrete-Time Data. Differential Identification of Linear Mechanical Systems

[+] Author and Article Information
F. Roether

Sicherheitstechnische Regelungs-und Messtechnik (FB 14), Bergische Universität, Wuppertal, FRG

J. Dyn. Sys., Meas., Control 109(2), 140-145 (Jun 01, 1987) (6 pages) doi:10.1115/1.3143831 History: Received November 11, 1985; Online July 21, 2009


The parameter estimation problem of linear mechanical systems evaluating discrete-time data is considered. In principle it can be solved by the algebraic back-transformation of an estimated discrete time model. This approach means that a-priori-knowledge concerning some physical parameters or zero positions in the matrices of the mechanical system cannot be used. An algorithm is presented which offers a possibility to use this information. It requires initially an approximate discrete-time model-parametrization, generated e.g., with known identification schemes. The new method combines data transformation based on linearized algebraic links between continuous and discrete-time models with a side-constrained instrumental variable estimator. Simulation results from a centrifuge model, illustrating the improved accuracy of the estimates if continuous built-in a-priori information are available.

Copyright © 1987 by ASME
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