| 超声电机驱动多关节机器人的类PID小波神经网络控制 |
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| 引用本文： | 孙志峻,黄卫清.超声电机驱动多关节机器人的类PID小波神经网络控制[J].机械工程学报,2009,45(3). |
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| 作者姓名： | 孙志峻 黄卫清 |
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| 作者单位： | 1. 南京航空航天大学机电学院,南京,210016
2. 南京航空航天大学精密驱动研究所,南京,210016 |
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| 摘 要： | 针对超声电机驱动多关节机器人的运行特性,提出一种新颖的速度-位置双闭环PID控制模式,有效地抑制了超声电机响应极快所导致的速度变化剧烈的现象,从而提高了机器人的运动平稳性.为了进一步提高超声电机驱动多关节机器人的控制性能,使其能根据超声电机的变化特性对PID控制参数进行实时调节,提出类PID小波神经网络控制器.通过对传统离散型增量式PID表达式各项的合理划分,将速度-位置双闭环PID控制、实践经验、当前的轨迹误差及其变化情况都融入进了类PID小波神经网络控制器中.该控制器参数的在线学习机制采用了δ自适应律并结合了BP算法和梯度下降法,算法简单,计算量大大减少.试验结果证明,所设计的类PID小波神经网络控制器不仅明显优于PID和PID神经网络控制器,而且具有很好的抗干扰能力.
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| 关 键 词： | 超声电机 小波神经网络 关节机器人 |
PID-like Wavelet Neural Networks Control for Multiple Joint Robot Driven by Ultrasonic Motors |
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| SUN Zhijun,HUANG Weiqing.PID-like Wavelet Neural Networks Control for Multiple Joint Robot Driven by Ultrasonic Motors[J].Chinese Journal of Mechanical Engineering,2009,45(3). |
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| Authors: | SUN Zhijun HUANG Weiqing |
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| Affiliation: | 1. College of Mechanical and Electrical Engineering;Nanjing University of Aeronautics & Astronautics;Nanjing 210016;2. Precision Driving Laboratory;Nanjing 210016 |
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| Abstract: | In view of the operating characteristics of a multiple joint robot driven by ultrasonic motors, a new speed-position double closed-loop PID control mode is put forward, which has effectively curbed the dramatic change of speed caused by quick response of the ultrasonic motor, so as to enhance the smooth movement of the robot. To further improve the performance of the robot and to real-time adjust the PID control parameters according to the changes of characteristics of ultrasonic motors, a PID-like wavelet ... |
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| Keywords: | PID |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
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