Informatica

The notion of general backlash is introduced where instead of the straight lines determining the upward and downward parts of backlash characteristic general curves are considered. An analytic form of general backlash characteristic description is proposed, which is based on appropriate switching and internal functions. Consequently, this multi-valued mapping is represented by one difference equation. All the parameters in the equation describing this hard nonlinearity are separated; hence the general backlash identification can be solved as a quasi-linear problem using an iterative parameter estimation method with internal variable estimation. Also the identification of cascaded systems consisting of a general input backlash followed by a linear dynamic system is presented. Simulation studies of general backlash identification and that of cascaded systems with general input backlash are included.

The paper deals with the recursive identification of dynamic systems having noninvertible output characteristics, which can be represented by the Wiener model. A special form of the model is considered where the linear dynamic block is given by its transfer function and the nonlinear static block is characterized by such a description of the piecewise-linear characteristic, which is appropriate for noninvertible nonlinearities. The proposed algorithm is a direct application of the known recursive least squares method extended with the estimation of internal variables and enables the on-line estimation of both the linear block parameters and the parameters of some noninvertible nonlinearities and their changes. The feasibility of the proposed method is illustrated on examples of time-varying systems.