| 摘要 |
A real-time gain identification system for a mechatronic system, such as a servo system, including at least two actuators is provided. In an example implementation, a servo system comprises a primary actuator and a piezoelectric secondary actuator. A controller generates a disturbance for one of the actuators that is compensated for (e.g., canceled) using another actuator. In one implementation, a gain of the actuator at an arbitrary time is calculated based upon a comparison of a signal used to compensate for the disturbance (e.g., cancel the disturbance) at that arbitrary time to a signal known to compensate for a disturbance (e.g., cancel the disturbance) under known conditions. For example, a gain may be determined based on a ratio of a signal used to cancel a disturbance at an arbitrary point to a signal known to cancel the disturbance under known conditions. Similar methodologies can be applied in other mechatronic systems with multiple actuators.
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