A parameter identification case-study for a dynamical mechanical system using frequency response analysis and a particle swarm algorithm for trajectory optimization
In order to include the dynamic behavior of a mechanical system, consisting of a position controlled, periodically moving, parallel manipulator and its supporting frame in the motion design a computer model is developed. For the identification of unknown model parameters a method is presented which is based on the process value curve of the motion control system and the measured vibration response of the frame. By means of kinematic and kinetic analyses of the mechanism, varying parameter matrices of the system and excitation forces acting on the frame are determined. Subsequently the frequency response function is calculated and the unknown parameters identified using a particle swarm optimization algorithm.