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。
The turning system＇s 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 object＇s model was deduced. The identification model can represent the real system＇s characteris- tics by validating experiment and the identification method is feasible to study turning system of the wheeled mobile robot.
出处
《机电工程》
CAS
2007年第7期82-84,共3页
Journal of Mechanical & Electrical Engineering
关键词
系统辨识
转向系统
最小二乘法
system identification,
turning system
least square method
