| 基于ANFIS的海底采矿车行走控制 |
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| 引用本文： | 李力,张敏,双志.基于ANFIS的海底采矿车行走控制[J].控制工程,2011,18(5):660-663,702. |
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| 作者姓名： | 李力 张敏 双志 |
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| 作者单位： | 1. 中南大学机电工程学院,湖南长沙410083;深海矿产资源开发利用技术国家重点实验室(筹),湖南长沙410012
2. 中南大学机电工程学院,湖南长沙,410083 |
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| 基金项目： | 国家高技术研究发展计划(863计划)课题基金资助项目(2006AA09Z232); 国家大洋专项(DYXM-115-04-02-03) |
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| 摘 要： | 针对海底钴结壳采矿车在采矿过程中越过复杂地形时会产生偏离预定路径的问题,提出一种基于ANFIS的海底采矿车直线路径跟踪控制方法,根据训练数据,设计模糊神经网络路径控制器,从而避免专家系统知识库难以获取和精确数学模型难以建立的困难.在此基础上,建立内环采用PID速度控制和外环采用ANFIS控制的机电直线路径行走控制模型,...
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| 关 键 词： | 海底采矿车 预定路径 行走控制模型 自适应神经模糊推理系统(ANFIS) 模糊神经网络 |
Moving Control of Sea-Bed Mining Vehicle Based on ANFIS |
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| LI Li,ZHANG Min,SHUANG Zhi.Moving Control of Sea-Bed Mining Vehicle Based on ANFIS[J].Control Engineering of China,2011,18(5):660-663,702. |
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| Authors: | LI Li ZHANG Min SHUANG Zhi |
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| Affiliation: | LI Li1,2,ZHANG Min1,SHUANG Zhi1 (1.College of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China,2.The State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology,Changsha 410012,China) |
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| Abstract: | Due to the problem of the sea-bed mining vehicle deviating from the prescribed path in the process of working,a kind of control method of linear path tracking based on adaptive neuro-fuzzy inference(ANFIS) is presented,and the fuzzy neural network controller is designed according to training date,thus avoiding the difficulty of establishing the expert knowledge base and the accurate mathematical model in the process of control.On this basis,the electro-mechanical travelling control model of inner loop using... |
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| Keywords: | sea-bed mining vehicle prescribed path travelling control model adaptive neuro-fuzzy inference system(ANFIS) fuzzy neural network |
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