| 高空作业平台CMAC网络PID并行优化控制及协同仿真 |
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| 引用本文： | 李帅,魏建华. 高空作业平台CMAC网络PID并行优化控制及协同仿真[J]. 机械科学与技术, 2010, 0(4) |
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| 作者姓名： | 李帅 魏建华 |
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| 作者单位： | 浙江大学流体传动及控制国家重点实验室; |
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| 摘 要： | 高空作业平台调平系统是一个复杂非线性系统,作业环境非常复杂且受到很多干扰。针对此提出了基于干扰观测器和RC滤波的CMAC神经网络PID并行控制的策略。以某型54 m高空作业平台电液比例调平系统为例,以AMESim仿真软件作为主仿真环境,通过软件接口将MATLABSimulink控制系统模型集成到AMESim中进行协同仿真。结果表明:与传统CMAC网络PID并行控制以及单纯PID控制相比较,改进的并行控制对负载扰动和模型失配表现出更强的适应性和鲁棒性,而且不论在任何阶段,都具有良好的跟踪效果。
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| 关 键 词： | 高空作业平台 CMAC网络 PID控制 并行控制 协同仿真 |
Collaborative Simulation and Integrated CMAC and PID Optimization and Control of an Aerial Work Platform |
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| Li Shuai,Wei Jianhua. Collaborative Simulation and Integrated CMAC and PID Optimization and Control of an Aerial Work Platform[J]. Mechanical Science and Technology for Aerospace Engineering, 2010, 0(4) |
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| Authors: | Li Shuai Wei Jianhua |
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| Affiliation: | State Key Laboratory of Fluid Power Transmission and Control/a>;Zhejiang University/a>;Hangzhou 310027 |
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| Abstract: | Aerial work platform leveling system is a complicated nonlinear system working under very complex conditions and suffering from much interference.The integrated CMAC(Cerebellar Model Articulation Controller) and PID(Proportion,Integral,and Derivative) control strategy based on disturbance observer and RC(Resistance Capacitance) low-pass filter was presented.For a certain 54m aerial work platform electro-hydraulic proportional leveling system,the AMESim(Advanced Modeling Environment for Performing Simulation... |
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| Keywords: | aerial work platform CMAC network PID controller compound controller collaborative simulation |
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