Bąkała Marcin, Duch Piotr, Tenreiro Machado J A, Ostalczyk Piotr, Sankowski Dominik
Institute of Applied Computer Science, ódź University of Technology, ul. Stefanowskiego 18/22, 90-537 Lodz, Poland.
Institute of Engineering, Polytechnic of Porto, Rua Dr. António Bernardino de Almeida, 431, 4249-015 Porto, Portugal.
Entropy (Basel). 2020 Mar 5;22(3):300. doi: 10.3390/e22030300.
This paper presents integer and linear time-invariant fractional order (FO) models of a closed-loop electric individual-wheel drive implemented on an autonomous platform. Two discrete-time FO models are tested: non-commensurate and commensurate. A classical model described by the second-order linear difference equation is used as the reference. According to the sum of the squared error criterion (SSE), we compare a two-parameter integer order model with four-parameter non-commensurate and three-parameter commensurate FO descriptions. The computer simulation results are compared with the measured velocity of a real autonomous platform powered by a closed-loop electric individual-wheel drive.
本文提出了在自主平台上实现的闭环电动独立轮驱动的整数阶和线性时不变分数阶（FO）模型。测试了两种离散时间FO模型：非 commensurate 和 commensurate。以二阶线性差分方程描述的经典模型作为参考。根据均方误差准则（SSE），我们将两参数整数阶模型与四参数非 commensurate 和三参数 commensurate FO 描述进行了比较。将计算机仿真结果与由闭环电动独立轮驱动供电的真实自主平台的测量速度进行了比较。
