Gyroscope System Identification using an Impulse Response RLS Algorithm

A recursive identification algorithm is used to identify a gyroscope system using impulse response data. The algorithm is based on an auto regressive moving average model with a steepest descent method. Impulse voltage input is used to excite the system and the angular velocity output is measured. The angular velocity output is dependent on the voltage and current inputs and affected by the system constants: motor inductance and mechanical constant, gear ratio and efficiency, moment of inertia, and load. The transfer function is constructed from the identified model using the Z-transform. Then, the input voltage is varied and applied to both: the identified model and the physical system. Experimental results using Labview with data acquisition card (DAQ) are presented. Results show that the recursive identification algorithm is able to identify the systems with minimal error