Mechatronic systems identification using an impulse response recursive algorithm

Abstract

A recursive identification algorithm is used to identify mechatronic systems using impulse response data. The algorithm is based on an auto regressive moving average (ARMA) model with a steepest descent method to minimize the least square error between the original and predicted outputs. Two mechatronic systems are tested: DC motor and gyroscope. Impulse voltage input is used to excite the system and the angular speed output is measured. In both systems, the torque and angular velocity outputs are dependent on the voltage and current inputs. This relationship is governed by characteristics such as inductance, resistance, moment of inertia, friction, load, and system constants. Once the ARMA model is constructed, the transfer function is realized. Then the input voltage is varied and the identified model results are compared with the original system. Simulation results using Simulink and experimental results using Labview with data acquisition card (DAQ) are presented. Results show that the recursive identification algorithm is able to identify the two systems with minimal error.