共查询到19条相似文献,搜索用时 250 毫秒
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针对机械手系统的轨迹跟踪控制,提出一种带有前馈和神经网络补偿的机械手控制策略,该控制策略由比例微分(proportional-derivative,PD)控制器、前馈补偿器和神经网络补偿器组成。首先通过实验数据辨识出机械手系统的近似线性模型,并基于此线性模型设计PD控制器的参数和前馈补偿器,采用神经网络来补偿近似模型与实际模型的偏差。该方法不需要建立机械手系统复杂的动力学模型,仅需要系统的输入输出数据,既保留PD控制器的优势,又保证了系统的控制性能。最后,在机械手平台上进行物理实验研究,实验结果表明:所提的控制策略实现简单,同时保证了系统的控制精确度。 相似文献
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基于遗传算法-BP神经网络优化的PID控制 总被引:1,自引:0,他引:1
利用遗传算法全局随机搜索能力,设计一种基于遗传算法的神经网络学习算法。对于非线性复杂系统,常规PID控制器不能获得理想的控制效果,针对复杂非线性对象的神经网络PID控制不失为一种有效的控制策略。该文提出了基于遗传算法优化参数的神经网络PID控制器,实现了基于实数编码的GA参数优化。仿真结果证明了该算法的有效性。 相似文献
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《中国电机工程学报》2010,(24)
电动车用直流电机控制器系统在电动车起动过程中具有非线性、快时变的特点,常规的比例-积分-微分(proportion-integration-differentiation,PID)控制方法很难满足系统非线性、参数摄动的要求,即使采用了前向神经网络算法进行PID整定,也由于结构复杂,训练速度慢等原因而很难满足实时控制的要求。于是提出了采用蚁群神经网络(ant colony algorithm neural network,ACANN)整定PID控制策略,用蚁群算法学习多层前馈(back propagation,BP)神经网络的权系,建立了基于该算法的BP神经网络训练模型,因而兼有了神经网络的广泛映射能力和蚁群算法的快速全局收敛以及启发式学习等特点,该控制策略可以补偿系统参数摄动、非线性和外界扰动对系统控制性能的影响,达到电动车平稳快速起动的目的。仿真和实验结果证明,该控制策略对电动车起动过程中电机起动电流的控制具有快速性、稳定性和鲁棒性。 相似文献
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在双轴或多轴驱动伺服系统中,各轴之间的动态特性互相耦合,严重影响了平台的定位精度和轮廓精度,而传统控制方法运算量大,寻找最优值困难。该文在基于设定值前向补偿的交叉耦合控制方法的基础上,提出了一种基于神经网络的智能控制策略。利用S函数实现了神经网络的在线调整、参数自动调整寻优。改变了系统学习速度,增强了其自适应能力,简化了操作复杂度,实现了系统的智能跟踪控制。用Matlab对文中方法进行仿真,并且与其它方法进行比较,结果表明,改进后的方法在减小轮廓误差和提高定位精度等方面有很好的效果,且在实验平台上进一步验证了该控制策略的可行性和有效性。 相似文献
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基于CPSO的PID神经网络及偏航电机控制策略 总被引:1,自引:0,他引:1
风电机组偏航系统具有高度的非线性与不确定性,采用传统的基于精确数学模型控制方法用于风电机组偏航系统,难以获得期望的稳定性、鲁棒性等控制性能.针对以上问题,借鉴传统静态神经网络的逆系统控制方法,并根据非线性自回归平均模型(NARMA-L2),给出了基于合作粒子群算法(CPSO)的PID神经网络控制策略(PIDNNC),并基于该策略设计了PIDNNC积分合成控制系统,提出了基于该策略的PIDNN神经网络控制系统设计方法.通过建立偏航系统的仿真模型进行仿真实验,并与PID控制器的控制效果进行比较,表明该控制策略能提高偏航系统的稳定性、鲁棒性和控制精度.通过偏航实验系统进行实验验证,结果表明该控制策略是可行和有效的. 相似文献
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以平面二自由度串联机械手为研究对象,基于LabVIEW平台以及应用PID算法来进行对机械手的轨迹跟踪控制。该系统以NI CompactRIO平台和PC机构筑了系统硬件平台,采用LabVIEW图形化编程语言进行控制软件的编程和建立人机交互界面,来实现机械手预定轨迹跟踪控制功能。通过对现实中二自由度机械手的实验,在LabVIEW的前面板窗口中获得了机械手末端的转角误差曲线。实验结果表明,所设计的平面二自由度机械手轨迹跟踪控制效果良好,能够满足工业现场控制要求。 相似文献
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给出了一种基于神经网络广义逆系统的汽轮发电机汽门开度控制策略,在无需系统模型参数和状态反馈的情况下,可实现非线性系统的大范围线性化,从而实现非线性系统的线性化控制。对单机无穷大系统的仿真表明,应用该控制策略可显著地增强电力系统的暂态稳定性。 相似文献
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应用微分几何理论的三相并联型有源电力滤波器解耦控制 总被引:3,自引:0,他引:3
有源电力滤波器(active power filter,APF)由于其突出性能已被证明是谐波抑制的有效手段之一,然而APF主电路为电压源逆变器(voltage source inverter,VSI),是一个非线性多变量、强耦合的系统,难以建立精确的数学模型,从而给控制器设计及应用带来困难。该文基于微分几何理论提出一种状态反馈精确线性化方法,推导出非线性坐标映射以及非线性反馈变换方程,将APF系统精确线性化,最终实现三相并联电压型APF有功、无功解耦控制器的设计。最后使用Matlab进行仿真并基于DSP和FPGA构成的双微处理器结构设计控制器进行了实验,仿真及实验结果表明,该控制策略能较好的实现APF的解耦控制,具有较好的补偿特性,经该控制算法补偿,谐波畸变率限制在2%以下,同时给出数字PI控制的实验结果作为比较。 相似文献
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基于动态递归神经网络的超磁致伸缩驱动器精密位移控制 总被引:5,自引:0,他引:5
由于内在的滞回非线性,超磁致伸缩驱动器(GMA) 会在开环系统中引起定位误差,在闭环系统中造成系统不稳定。为了克服这个问题,将动态递归神经网络(DRNN)前馈和PD反馈控制器相结合,提出了一种实时滞回补偿控制策略,以期实现GMA的精密位移跟踪控制。DRNN控制器是根据GMA的滞回特性构造的,通过反馈误差学习方案在线学习GMA的逆滞回模型。仿真结果表明该控制策略能适应GMA滞回特性随机械负载、输入信号的变化,在线建立GMA的滞回逆模型,从而消除滞回非线性的影响,实现GMA的精密控制。 相似文献
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Man Zhihong M. Palaniswami 《International Journal of Adaptive Control and Signal Processing》1993,7(6):539-562
An improved variable structure model-following control scheme for rigid robotic manipulators is proposed in this paper. It is shown that the controller parameters are determined by only a few uncertain system matrix bounds. The proposed scheme results in greatly simplified controller design; furthermore, strong robustness and asymptotic convergence can be guaranteed. It is shown that this scheme can be easily used for practical applications. 相似文献
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Man Zhihong M. Palaniswami 《International Journal of Adaptive Control and Signal Processing》1995,9(5):443-457
In this paper the design of three-segment non-linear sliding mode parameters is further investigated and a robust decentralized tracking control scheme using the three-segment non-linear sliding mode technique for non-linear rigid robotic manipulators is developed. It is shown that some parameters of the three-segment non-linear sliding mode are related to the initial values of the system dynamics and should be suitably chosen in order to guarantee the stability of the system dynamics. Strong robustness and fast error convergence can be obtained for rigid robotic manipulators with large uncertain dynamics by using the three-segment non-linear sliding mode technique together with a few useful smctural properties of rigid robotic manipulators. A simulation example is given in support of the proposed control scheme. 相似文献
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Alessandro De Luca Stefano Panzieri 《International Journal of Adaptive Control and Signal Processing》1993,7(5):417-433
The setpoint regulation problem for robotic manipulators is a basic task that can be solved either by PID control or by model-based gravity compensation. These approaches are commonly applied both to rigid arms and to robots with flexible links and/or elastic joints. However, PID control requires fine and lengthy tuning of gains in order to achieve good performance over the whole workspace. Moreover, no global convergence proof has yet been given for this control law in the case of flexible links or elastic joints. On the other hand, a constant or even a configuration-dependent gravity compensation is only an approximate solution when an unknown payload is present or when model parameters are poorly estimated. In this paper a simple iterative scheme is proposed for generating exact gravity compensation at the desired setpoint without the knowledge of dynamic model terms. The resulting control law is shown to be global asymptotically stable for rigid arms as well as for manipulators with elastic joints or flexible links. Starting with a PD action on the error at the joint (i.e. motor) level, an additional feedforward term is built and updated at discrete instants. Convergence of the scheme is proved under a mild condition on the proportional gain, related to a bound on the gravity terms. In the presence of concentrated or distributed flexibility a structural property of the joint or of the link stiffness is further required, largely satisfied in practice. Simulation results are given for a three-link rigid arm and experimental results are also presented for a two-link robot with a flexible forearm. 相似文献
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Kamen Delchev 《International Journal of Adaptive Control and Signal Processing》2014,28(12):1454-1473
This paper presents a model‐based nonlinear iterative learning control (NILC) for nonlinear multiple‐input and multiple‐output mechanical systems of robotic manipulators. An algorithm of a new strategy for the NILC implementation is proposed. This algorithm ensures that trajectory‐tracking errors of the proposed NILC, when implemented, are bounded by a given error norm bound. Both standard and bounded‐error learning control laws with feedback controllers attached are considered. The NILC synthesis is based on a dynamic model of a six degrees of freedom robotic manipulator. The dynamic model includes viscous and Coulomb friction and input generalized torques are bounded. With respect to the bounded‐error and standard learning processes applied to a virtual PUMA 560 robot (Unimation, Inc. Danburry, CT, USA), simulation results are presented in order to verify maximal tracking errors, convergence and applicability of the proposed learning control. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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柔性多状态开关模型预测协同控制策略 总被引:1,自引:0,他引:1
柔性多状态开关(FMSS)作为一种新型电力电子装置能够部分替代配电网中传统联络开关,实现潮流的不间断灵活调控,优化电压分布。探讨了三端FMSS在配电网中的几种可能接入拓扑及工作模式,建立了三端FMSS的动态数学模型,结合三端控制约束提出了三端FMSS模型预测协同控制策略。该策略具有原理清晰、实现简单、动态响应速度快等优点,避免了传统比例—积分(PI)双闭环控制策略存在的控制结构复杂、PI参数较多且整定困难的问题。基于模型预测控制对各端口UdcQ控制模式、PQ控制模式,以及Uacf控制模式进行了具体算法实现。为了验证所提方案的有效性,在MATLAB/Simulink环境下搭建了三端FMSS仿真模型,不同工况下的仿真结果验证了所提三端FMSS模型预测协同控制策略能够有效实现多端口间的协同控制,发挥FMSS的调节功能,为FMSS的配电网应用提供灵活的解决方案。 相似文献
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Masahide Ito Takahiro Hiratsuka Masaaki Shibata 《IEEJ Transactions on Electrical and Electronic Engineering》2012,7(Z1):S160-S166
This paper addresses the problem of visual target following for a nonholonomic wheeled mobile robot with a single fixed camera. For the problem, we propose a control scheme composed of vision‐based trajectory planning and tracking control. We present online trajectory planning based on image‐based visual servoing. The key idea is to compensate the target object motion. In particular, we focus on visual feature motion resulting from the target object motion. Tracking control to the generated trajectory can therefore achieve visual target following precisely even if the target object is moving. Our proposed scheme can be applied to, e.g. robotic systems for autonomous guard and observation. The effectiveness of the control system is evaluated experimentally. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc. 相似文献