Скачать или смотреть Shaping multisine excitation for closed loop identification of a ball-screw cable ... B. Boukhebouz

Bassem Boukhebouz, Guillaume Mercère, Mathieu Grossard and Edouard Laroche
May 27th, 2021

Abstract:In robotic systems, saturations on current and voltage are active in inner control loops. Consequently, on the one hand, high amplitudes of the excitation should be avoided when we aim at finding the underlying linear system in some frequency spectrum, because they can lead to saturation and introduce distortions in the estimated FRF. On the other hand, the need to properly excite all the robot dynamics requires large amplitude within the frequency band of interest. In this work, we present a multisine excitation design method to improve the quality of the estimated FRF in presence of saturation on the control signal and in a closed-loop setup. The method is based on the shaping of the multisine excitation that allows improving the Crest Factor of the control signal from 7.29 to 1.51. The perspective is to synthesize non-conservative model-based controller for a ball-screw cable actuator.