Diagnostics of robot drives based on a DC motor by the criterion of identifiability of a nonlinear discrete model in the state space

Abstract

The criteria of observability, controllability and iden-tifiability of drives as a function of the rank of the extend-ed state matrix with the measurement matrix, in which the relative errors of the information-measuring system are analytically taken into account, are considered. An al-gorithm for calculating the criterion of identifiability of a nonlinear control system in a discrete version is proposed. It is offered to use identification from the point of view of conformity of mathematical model to results of operation of object. At each step, the determinant of the expanded matrix is calculated, which is compared with some con-stant that numerically divides the space of the state matri-ces. The obtained research results can be used to build di-agnostic systems for robot drives.