[1]孟凡亮,王志胜.基于CMAC的电动负载模拟器的研究[J].机械与电子,2018,(05):23-26,32.
　MENG Fanliang,WANG Zhisheng.Research on Electric Load Simulator Based on CMAC[J].Machinery & Electronics,2018,(05):23-26,32.
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基于CMAC的电动负载模拟器的研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年05期
页码:
23-26,32
栏目:
设计与研究
出版日期:
2018-05-24

文章信息/Info

Title:
Research on Electric Load Simulator Based on CMAC
文章编号:
1001-2257(2018)05-0023-04
作者:
孟凡亮; 王志胜
(南京航空航天大学航空宇航学院,江苏 南京 210016)
Author(s):
MENG Fanliang;  WANG Zhisheng
(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
关键词:
电动负载模拟器;  多余力矩;  CMAC;  PID控制;  复合控制
Keywords:
electric load simulator;  surplus torque;  CMAC;  PID control;  hybrid control
分类号:
V216.8
文献标志码:
A
摘要:
为了抑制电动负载模拟器中存在的多余力矩,增强加载系统的非线性抑制能力,提出小脑模型(CMAC)神经网络与经典PID结合的复合控制策略,CMAC网络用于前馈控制,经典PID实现反馈控制,能够快速实时地消除多余力矩对系统的干扰。将存储单元的先前学习次数作为可信度,提出基于可信度分配的权值更新算法,来消除常规CMAC网络的过学习现象。建立了电动负载模拟器的数学模型,并给出了具体的算法流程。经仿真和试验结果表明,该方法具有很强的鲁棒性,有效地抑制了系统的多余力矩,提高了系统的加载精度。
Abstract:
In order to prevent the surplus torque in the electric load simulator(ELS)and improve the ability of prevent the nonlinear, hybrid control based on cerebella model articulation controller(CMAC)neural network and classical PID is proposed, the feedforward control is realized by CMAC while the feedback control is realized by classical PID controller, it is able to eliminate surplus torque. Weight update algorithm based on credibility is proposed, the former learned times of the storage unit is used as credibility in order to eliminate the excess self-learning phenomenon. The ELS's model is established and the detailed control structure is put forward. simulation and experimental results demonstrate that the method has good robustness and can effectively eliminate the surplus torqure, improve the loading precision.

参考文献/References:

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备注/Memo

备注/Memo:

基金项目：国家自然科学基金（61473144） 收稿日期：2017-12-23
作者简介：孟凡亮 （1991-），男，河南永城人，硕士研究生，研究方向为伺服控制；王志胜 （1970-），男，江苏南京人，教授，博士研究生导师，研究方向为机电模拟技术、工业机器人技术。
更新日期/Last Update: 2018-05-24