On the Use of a Multivariable Frequency Response Identification Method in the Presence of Periodic Disturbances
2003 (English)Report (Other academic)
A method for estimating the Multivariable Frequency Response Function (MFRF) is evaluated with respect to different disturbance properties and excitation signals. For the robot application, disturbances are mainly of a periodic nature, and Gaussian disturbance descriptions, which are often used in identification literature, do not give the same result. It is shown that the averaging technique over multiple periods does not work as well for periodic disturbances as for Gaussian disturbances. The chirp excitation signal might be a better choice than multisine to reduce the influence of periodic disturbances. The main reason for this is a varying operating point.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2003. , 8 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2549
Identification, Robotics, Periodic disturbances, Excitation signals
IdentifiersURN: urn:nbn:se:liu:diva-55876ISRN: LiTH-ISY-R-2549OAI: oai:DiVA.org:liu-55876DiVA: diva2:316659