| 基于CMAC网络的摩擦补偿研究 |
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| 引用本文： | 黄进,叶尚辉. 基于CMAC网络的摩擦补偿研究[J]. 中国机械工程, 1999, 10(3): 269-272 |
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| 作者姓名： | 黄进 叶尚辉 |
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| 作者单位： | 西安市,710071,西安电子科技大学 |
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| 摘 要： | 分析了摩擦的特性及其对伺服系统的影响。提出了一种基于ＣＭＡＣ神经网络的摩擦补偿方法，它可以实现摩擦力矩的动态自学习补偿，从而增强摩擦补偿的效果。数值认真表明这种摩擦补偿方法不仅能有效地提高伺服系统的性能，而且便于工程应用。
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| 关 键 词： | 伺服系统 摩擦补偿 CMAC 神经网络 |
A CMAC Method for Friction Compensation in Servo System |
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| Huang Jin,Ye Shanghui. A CMAC Method for Friction Compensation in Servo System[J]. China Mechanical Engineering, 1999, 10(3): 269-272 |
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| Authors: | Huang Jin Ye Shanghui |
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| Abstract: | The impact of friction on the servo system is analyzed, and the disadvantages of typical compensating methods are described firstly. Then, a friction compensation method, which is based on CMAC is put forwarded. The CMAC possesses on line self learning ability, according to which, the compensator could compensate the friction appeared by feedforward. This method not only improves the performance of servo systems but also has the characteristics of easy implementation. Finally, the advantages of this method are illustrated by a series of simulation. |
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| Keywords: | servo system friction compensation CMAC neural network |
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