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Multi-innovation Parameter Identification Based on Coupling Auxiliary Model for Three-axis Turntable

This paper proposes a multi-innovation identification algorithm based on coupling auxiliary model for the three-axis turntable system. By introducing a shift operator, the hierarchical model of three-axis turntable is established and then transformed into three sub-identification models, which can reduce the computation complexity. With the help of coupling auxiliary model, a recursive least squares identification algorithm is designed for the sub-identification models to identify the system parameters. To further improve the convergence speed of identification process, a multi-innovation recursive identification algorithm is developed via multi-step update principle to solve the multi-innovation length problem and achieve the fast parameter identification for three-axis turntable. Experimental results based on a three-axis turntable is conducted to demonstrate the effectiveness of the proposed identification algorithm.