一种应用于遥操作系统的机械振动辨识方法

Mechanical Vibration Identification Method Applied to the Telemanipulation System

当考虑遥操作系统中轻型机器人的结构振动辨识问题时,由于通讯环节的带宽窄和通讯频率低,传统的振动辨识方法将遭遇瓶颈.因此,研究如何减少振动辨识过程中需要传输的数据量显得尤为重要的.为此,本文借鉴ESPRIT(estimation of signal parameters via rotational invariance techniques)算法,研究了机械结构振动的欠采样辨识问题.提出了ASP(adding sampling points)方法.在ASP中,用平均值矩阵取代了传统ESPRIT算法中的相关矩阵,在保证充分利用采样数据的同时,克服了相关矩阵易产生病态的问题,并减小了计算量;对振动频率和衰减系数分别进行辨识,然后再将它们匹配成对,解决了频率解混叠和衰减系数准确辨识之间的矛盾;利用差异度法匹配振动频率和衰减系数,在匹配过程中可以对辨识出的振动频率进行修正.仿真和实验都证明了该方法不仅可行,而且具有很好的效果.

When attempting to identify vibration in a lightweight robots＇ structure in a telemanipulation system,the conventional vibration identification method experiences bottleneck due to its narrow bandwidth and the low communication frequency of the communication link. As such,there is a need to study ways to reduce the amount of data being transmitted. For this purpose,we studied the problem of vibration identification in mechanical structures for a sub-Nyquist sample,using the ESPRIT（ estimation of signal parameters via rotational invariance techniques） algorithm,and propose a method for adding sampling points（ ASP）. We substitute mean value matrices for the correlation matrices used in the conventional ESPRIT algorithm,which overcomes the ill-conditioning problem and reduces the calculation required,while also using sampling data efficiently.Vibration frequencies and attenuation coefficients are respectively identified and then matched in pairs,which resolves the contradiction between frequency de-aliasing and the accurate identification of attenuation coefficients. We use the discrepancy method to match the vibration frequencies.