利用特定矩形波辨识自平衡系统的模型

Identifying self-balancing system's model by using rectangular wave

特定矩形波信号实质是由一个从零时刻开始的阶跃信号和一个从阶跃响应的拐点时刻开始的负阶跃信号共同合成。采用此信号作为输入信号,可有效避免阶跃响应试验在现场难实现的问题。本文利用特定矩形波信号作用于待辨识的自平衡系统,通过提取过渡过程曲线上特定时刻的位置时间信息,辨识出系统的参数,从而得到该自平衡系统的模型。

The particular rectangle signal is composed of two step signals,the first step signal which starts from zero time and the step signal which starts from the time of inflection of the system step response.In this paper,we choose the particular rectangle signal as input to deduce the system parameters through getting the useful messages from the response.By this method,we could identify system parameters by avoiding getting step response which is not easily realized in practice.