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1、_eHyZEX王苏峰王正志(SS/v1e410073)K1o_epyZE,4yL9ZEbZE+yH,iL.ET9,8LCo_epyb_TV,L)OM,NOMEZzb1oM_e,yZE,L.Es|TP13ATime-domain Method of Control-oriented ModelingWang SufengWang Zhengzhi( Department of Automatic Control, NU DT, Changsha, 410073)AbstractThis paper develops control-orient ed models m odeling, and
2、brings forward a practical computimg method. This identificationmethod is charact erized by t ime-domain. M oreover, it uses t he genet ic algorithmt o realizemodeling. The simulating result show s that the true model lies in the identified m odel set and this identificat ion methodhas a good robust
3、 .Key wordscont rol-oriented, modeling, genetic algorithm90M-,dOMy= Mu+ dOM,d.2bV90M,S=dOM_o_epybHy= ( M + $M) u+ dOM,id.2, $M(ys)b1991M, H elm icki, Jacobson, Nett and Gu 1, 24yo_epdOMZEbH4M,q,=ZE|t/bZE?HLHOM,7O15.2Hb1992M, Ljung, Wahlberg, Goodw in, Kosut 34OMEbNEKl=E,aHOMbVNZE=QT$OMW1,7o_epb4HOMZ
4、E,ZEo_epyZE,iL.E9,8LCo_epyb1OMM ,7O1OMHbZed!91,yH,?P80M?ZHZE!9Zedb5MLC_eyb1yZEn5PBt|l: VUHS; T N ( )T oeplitz/0; ( ) *VSS/v212JOURNAL OF NATIONAL UNIVERSIT Y OF DEFENSE TECHNOLOGYVol. 21 No. 2 1999XSE1S1998M1014lBT:,3, 1970M3,pV3UbyseL=fM,|o_epy= ( M+ rLHR) u+ d,MBL0; L, R,MMhFf;HHbWo; dHWOf,Odq; rq
5、L,Qy1SbOMZE|H,1ordb|OMy= ( M+ rLHR) u+ d4yi, ui, i= 0, 1,l,N ,#D 5w,T oeplitz/0/BZT,wprTb,#MaHr.2HqbD 4X, MqHH,B4p|L5,yN1.2HqXb.2HqX,5VL.E9,pKMaHrbL.EE,VID 6bNSL.E,4EKD8=a1E,N4El1y,Vh9;0,FvMsq,zTb.2HX,Bl(5EOM) ,.2Ii5bS14,BZEpE,lS,AB,lj7,4%;6BZE5QY,v8S,NSbW%b5BZE,5MlbWbHo_epy8T:y = ( M + rLHR) u + d
6、( 1)rHRu = L - 1( y - Mu - d) ( 2)7HHbWo,H1blT oeplitz/0TN ( ) ,y Ni= 1/T N ( y) =y0 0 0l0y1 y0 0l0y2 y1 y0l0 w yN yN- 1 yN- 2ly0( 3)TInd() ,5D 5Bw:Tu, ybW Ni= 0H ( HH ilbertbW,;u, yBHilber tbW) ,5iByTLHM0HTZbWl2 ( HilbertbW) ,Py = Hu, H1 ( 4)OT*N ( y) T N( y)T *N ( u) T N( u) . ( 5)yN( 2)( 4)Tr2( T
7、 *N ( Ru) T N ( Ru) )T *N ( L - 1( y - Mu - d) T N( L - 1( y - Mu - d) ) ( 6)( T *N ( Ru) T N ( Ru) ) = ( T *N ( Ru) T N ( Ru) ) 1/ 2( T*N ( Ru) T N( Ru) ) 1/ 2 ( 7)5r2E( T N( L - 1( y - Mu - d) ( T *N ( Ru) T N( Ru) ) - 1/ 2) *T N( L - 1( y - Mu - d) ) ( T *N ( Ru) TN ( Ru) ) - 1/ 2 ( 8)E,7rL,H9Vrm
8、axi (Ki ( ( T N( L - 1( y - Mu - d) ) ( T *N ( Ru) TN ( Ru) ) - 1/ 2) *TN ( L - 1( y - Mu - d) ) ( T*N ( Ru) T N( Ru) ) - 1/ 2) ) 1/ 2)= R-( T N( L - 1( y - Mu - d) ) ( T *N ( Ru) T N ( Ru) ) - 1/ 2)( 9)h,5pKlHb7TM , L, R, d,.2HqX,98SS/v1999M2yN1M , L, R, d,5pKlHT:r = m inM, L, R mindq(R-( T N( L - 1( y
