Grey-box modelling of a friction-affected dynamical system
نویسندگان
چکیده
In this paper a grey-box model of a nonlinear dynamical system is constructed. This involves using a Gaussian process to emulate model error the error that arises as a result of flaws in one’s physical-law based model of the system. The work shows how such an approach can be extended towards dynamical systems. Specifically, it is applied to experimental data, obtained from a dynamical system whose response is known to be strongly influenced by friction effects.
منابع مشابه
Modelling of a Thermostatic Valve with Hysteresis Effects
This paper presents a model of a thermostatic valve based on first principles and where the hysteresis effect is modelled using an adaptive model for friction compensation. The grey box modelling approach is applied, i.e. both physical interpretation and statistical methods are used to build and validate the suggested model. The model performance is illustrated using empirical data and issues c...
متن کاملDissimilar friction stir lap welding of Al-Mg to CuZn34: Application of grey relational analysis for optimizing process parameters
This study focused on the optimization of Al—Mg to CuZn34 friction stir lap welding (FSLW) process for optimal combination of rotational and traverse speeds in order to yield favorable fracture load using Grey relational analysis (GRA). First, the degree of freedom was calculated for the system. Then, the experiments based on the target values and number of considered levels, corresponding orth...
متن کاملNonlinear Grey-box Identification of Industrial Robots Containing Flexibilities
Nonlinear grey-box identification of industrial robots is considered. A three-step identification procedure is proposed in which parameters for rigid body dynamics, friction, and flexibilities can be identified only using measurements on the motor. In the first two steps, good initial parameter estimates are derived which are used in the last step, where the parameters of a nonlinear physically...
متن کاملEvolutionary Grey-box Modelling for Nonlinear Systems
A novel grey-box modelling methodology combining advantages of both black and clear-boxes is presented in this paper. The technique explicitly uses physical prior knowledge that enables the underlying plant dynamics and the accompanying partially-known physical parameters to be identified. Through genetic evolution and Boltzmann learning, it enables global and dominant dynamic modelling with lo...
متن کامل3-RPS Parallel Manipulator Dynamical Modelling and Control Based on SMC and FL Methods
In this paper, a dynamical model-based SMC (Sliding Mode Control) is proposed fortrajectory tracking of a 3-RPS (Revolute, Prismatic, Spherical) parallel manipulator. With ignoring smallinertial effects of all legs and joints compared with those of the end-effector of 3-RPS, the dynamical model ofthe manipulator is developed based on Lagrange method. By removing the unknown Lagrange multipliers...
متن کامل