Modeling & identification of EMA lifting servo mechanism
To solve the problem of difficult identification of dynamic parameters of electric mechanical actuator(EMA)lifting servo mechanism,a cyclic least square identification method with limited memory interval is proposed,which is used to identify and fit the nonlinear model and disturbance parameters of the mechanism in the whole stroke.Firstly,the cause of nonlinear parameters of the complete mechanism model is analyzed,and the corresponding simplified model is proposed;Then,the parameter approximate identification characteristics of the least squares method under the average pose are analyzed,and the cyclic least squares method with limited memory interval is proposed;Finally,by constructing the input and output signals and selecting the identification servo loop,the identification process will not exceed the travel range of the mechanism.The experimental results show that the proposed identification method makes the root mean square error of sinusoidal velocity and displacement response reduce by 59.3％and 84.2％respectively compared with the least square method.The proposed identification method can provide reference for high-precision dynamic modeling of EMA lifting servo mechanisms and the implementation of composite control strategies of controllers and observers.
EMA lifting mechanismorthogonal projection theoremmemory intervalcyclic least square method
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