基于半物理仿真技术的机电伺服系统模型辨识研究

系统模型是进行系统性能分析与设计的基础。为了获得准确的系统数学模型，文章借助于dSPACE实时系统的半物理仿真环境和MATLAB系统辨识工具箱，提出了一种适用于机电伺服系统的模型辨识方法，并以机器人关节伺服系统为对象进行了系统模型辨识实验研究，通过对比离线仿真和半物理仿真结果验证了该方法的有效性。该研究对机电系统建模及控制系统设计具有参考价值。

Research on Model Identification of Mechatronic Servo System Based on Hardware- in- the- loop Simulation Technology

The models of systems are the foundation of system performances analysis. In order to acquire more accuracy system mathematical model a model identification method which is applied to mechatronic servo system was put forward based on hardware - in - the - loop simulation environment of dSPACE real -time system and system identification toolbox in MATLAB. System model identification experiments of robot joint servo system as object were carried out. By the offline simulation curve compared with inline simulation one the method feasibility was validated. The paper has reference value for mechatronic systems modeling and control system design.