1. System Identification of the SPDM Ground Test Facility Shawn Greene Dr. Raymond Kwong, Academic Supervisor Raja Mukherji Industrial Supervisor, MDA Space Missions

2. ECE Graduate Symposium 2005, UofT System Identification of the SPDM GT  SPDM Ground Test Facility (GT)  Motivation/Objective  Approach  System Modeling  Identification Methods

3. ECE Graduate Symposium 2005, UofT System Identification ? Experimentally Determined SPDM GT Model Measured Disturbance Input Unmeasured Disturbance Output System Identification Problem: Unmeasured Disturbance Experiment Design Choose Model Set Choose Fit Criterion Validate Model Calculate Model Data Prior Knowledge Not OK: Revise OK: Use it! System Identification Process

4. ECE Graduate Symposium 2005, UofT System Identification – SPDM GT Modeling the SPDM GT Chain of Rigid Bodies Newton-Euler Equation of Motion State-Space Model  Challenges:  Nonlinear Equation of Motion  Configuration dependent  Nonlinear gearbox stiffness  Friction modeling and observation difficult  Sensor availability  System delays

5. ECE Graduate Symposium 2005, UofT System Identification Tasks  Find robust method(s) to…  Determine locally linear models of the system to be used in controller design  Determine certain physical properties about a configuration  Fault diagnosis?  Perform load identification (A,B,C,D,K) SPDM GT Mass, Damp, Stiffness SPDM GT Load SPDM GT

6. ECE Graduate Symposium 2005, UofT Experimental Design  Simulation generates data in open-loop  MATLAB System Identification Routines  Search for best model involves estimating   PEM – Prediction Error Method (Max. Likelihood)  Structured and Greybox Identification models  Compare against expected model Input Signals Output Signals Step Signal Pulse Signal Chirp Signal Band-Limited White Noise Joint and Motor Positions, Motor Velocities