# 机械表征介绍<br>¶

The characterization tools consist of a python application that runs on the user’s PC and matching robot code that runs on the user’s robot. The PC application will send control signals to the robot over , while the robot sends data back to the application. The application then processes the data and determines characterization parameters for the user’s robot mechanism, as well as producing diagnostic plots. Data can be saved (in JSON format) for future use, if desired.

## 什么是“表征”？¶

“表征” ， 或者更正式地说，”系统识别”<https://en.wikipedia.org/wiki/System_identification>__ - 是通过对系统的投入和输出进行统计分析来确定系统行为的过程。

$V = kS \ cdot sgn（\ dot {d}）+ kV \ cdot \ dot {d} + kA \ cdot \ ddot {d}$

kS’’是克服电动机静摩擦，或换句话说，就是使电动机运动所需的最小电压。事实证明，无论速度还是加速度，这种静摩擦都具有相同的效果。也就是说，无论您以多大的速度或多大的速度加速，施加在电机上的电压的恒定部分（取决于特定的机构组件）都将克服您齿轮，轴承上的静摩擦。这个值就是您的kS。一定要注意到信号功能”<https://en.wikipedia.org/wiki/Sign_function>__, 的存在，因为摩擦力始终与运动方向相反。

kV describes how much voltage is needed to hold (or “cruise”) at a given constant velocity while overcoming the electromagnetic resistance in the motor and any additional friction that increases with speed (known as viscous drag). The relationship between speed and voltage (at constant acceleration) is almost entirely linear (with FRC® components, anyway) because of how permanent-magnet DC motors work.

kA’’描述了在电机轴中感应给定加速度所需的电压。与kV’’一样，对于FRC组件，电压和加速度（在恒定速度下）之间的关系几乎完全呈线性关系。

## 随附的表征工具¶

• 简单的电机设置

• 动力总成

• 电梯

### 简单的电机表征¶

$V = kS \ cdot sgn（\ dot {d}）+ kV \ cdot \ dot {d} + kA \ cdot \ ddot {d}$

### 传动系统表征¶

$V = kS \ cdot sgn（\ dot {d}）+ kV \ cdot \ dot {d} + kA \ cdot \ ddot {d}$

### 臂表征化¶

$V = kS \ cdot sgn（\ dot {\ theta}）+ kCos \ cdot cos（\ theta）+ kV \ cdot \ dot {\ theta} + kA \ cdot \ ddot {\ theta}$

### 电梯表征¶

$V = kG + kS \ cdot sgn（\ dot {d}）+ kV \ cdot \ dot {d} + kA \ cdot \ ddot {d}$

Python 3.7

## 安装和启动Toolsuite¶

pip install frc-characterization


pip install --upgrade frc-characterization


frc-characterization drive new


It is highly recommended that you utilize the new project GUI to launch the logger and analyzer tools for more effective unit conversions rather than launching the logger and analyzer from the CLI.