论文部分内容阅读
本文论述了一种首先应用阶跃响应的面积法得到开环系统的辨识模型，然后结合对开环辨识模型的根轨迹分析进行闭环系统的模型综合的辨识方法．应用此方法对轮式移动机器人ＴＨＭＲ－Ⅱ和ＴＨＭＲ－ⅡＡ的后轮驱动系统进行了辨识，获得了令人满意的辨识结果
In this paper, an area model with step response is first used to obtain an open-loop system identification model, and then a closed-loop system model synthesis identification method is combined with root-path analysis of open-loop identification model. The rear wheel drive system of wheeled mobile robots THMR-Ⅱ and THMR-ⅡA was identified by this method and a satisfactory identification result was obtained