扩维观测器用于共享控制系统的模型参数辨识的研究

Research on applying the extended state observer to model parameter identification for shared control systems

针对基于因特网的共享控制系统无法对被控对象的模型参数进行在线辨识的问题,提出了一种在时变时延的网络环境下,服务器在线辨识被控对象模型参数的方案。该方案在服务器端使用扩维观测器观测被控对象模型的各阶状态变量,并结合网络通讯技术实现在因特网环境下对接入系统的被控对象模型参数的在线辨识。将该方案所得的辨识结果与无网络环境因素影响下的辨识结果进行了仿真实验对比验证,实验结果表明该方案是有效可行的,不仅实现了在网络环境下服务器对不同地域的被控设备对象模型参数的在线辨识,而且也扩展了系统辨识的应用范围。

In order to realize the on-line estimation of shared plants＇ parameters in intemet based shared control systems by the server node,the paper proposes a new method that can on-line identify the model parameters through an internet based shared control system under the time-varying and time-delay environment. By observing out all the model variables of shared plants in different states by the extended state observer in different region and utilizing the network technology, the method realizes the on-line identification of model parameters of the remote terminal. The numerical computer simulations were performed to compare the system＇ result with the existing systems without the influence of network factors, and the results show that the proposed method is valid and feasible, which can realize the identification of model parameters of the controlled objects in different regions under the network environment, and extend the applications of the on-line identifi- cation systems.