| 基于RBF神经网络PID控制的挖掘机器人节能系统研究 |
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| 引用本文： | 张栋,吴婷,汪烨,孙渊. 基于RBF神经网络PID控制的挖掘机器人节能系统研究[J]. 机床与液压, 2010, 38(3). DOI: 10.3969/j.issn.1001-3881.2010.03.016 |
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| 作者姓名： | 张栋 吴婷 汪烨 孙渊 |
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| 作者单位： | 上海电机学院机械学院,上海,200245 |
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| 基金项目： | 上海市教委项目(06VZ001) |
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| 摘 要： | 从挖掘机器人动力传动系统节能角度考虑,通过对挖掘机器人功率匹配的分析,研究了基于RBF神经网络-PID控制算法在节能控制系统上的应用。试验结果表明:采用的节能方法和神经网络-PID控制算法在挖掘机器人节能控制系统上是可行的。神经网络-PID控制器能根据不同的环境和作业工况进行实时参数自调整,具有自学习的功能。研究结果为进一步研究开发智能挖掘机提供了参考。
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| 关 键 词： | 挖掘机器人 液压系统 功率匹配 节能 RBF神经网络-PID |
Study on Energy-saving Control System Based on RBF Neural Network-PID in Robot Excavator |
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| ZHANG Dong,WU Ting,WANG Ye,SUN Yuan. Study on Energy-saving Control System Based on RBF Neural Network-PID in Robot Excavator[J]. Machine Tool & Hydraulics, 2010, 38(3). DOI: 10.3969/j.issn.1001-3881.2010.03.016 |
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| Authors: | ZHANG Dong WU Ting WANG Ye SUN Yuan |
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| Affiliation: | School of Mechanical;Shanghai Dianji University;Shanghai 200245;China |
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| Abstract: | The power match of robot-excavator was analyzed from the view of saving energy in power transmission system of robot excavator.The scheme of RBF Neural Network-PID was studied in saving-energy system.The experimental results show that the method of saving-energy and the scheme of RBF Neural Network-PID are efficient for saving-energy system.The RBF Neural Network-PID controller has the ability to learn from the different operating conditions and self-regulates system parameters. |
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| Keywords: | Robot-excavator Hydraulic system Power match Saving-energy RBF neural network-PID |
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