Online Identification of Mechanical Systems Using the Simplified Output Error Model

Parameter identification used to obtain the analytical mathematical model of the mechanical system is requisite to allow high-performance control. The typical online indirect parameter identification method, which simultaneously estimates six parameters using the least square method with an adaptive filter, has achieved a good effect. Nevertheless, the drawbacks, such as the heavy computational burden and the adaptive filter invalidation, restrict its use for real-time identification. To address these issues, the simplified discrete-time output error model is proposed, which can be used to estimate four key parameters online instead of six. Furthermore, this article presents an adaptive filter parameter correction algorithm via the pole assignment to guarantee its stability and effectiveness. Finally, the proposed method can significantly reduce the calculation burden of typical identification method. The experimental results indicate that the proposed identification method maintains a high precision.