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永磁球形电机的神经网络自适应控制算法

刘敬猛 刘岩 陈伟海 张良

刘敬猛, 刘岩, 陈伟海, 等 . 永磁球形电机的神经网络自适应控制算法[J]. 北京航空航天大学学报, 2014, 40(1): 25-30.
引用本文: 刘敬猛, 刘岩, 陈伟海, 等 . 永磁球形电机的神经网络自适应控制算法[J]. 北京航空航天大学学报, 2014, 40(1): 25-30.
Liu Jingmeng, Liu Yan, Chen Weihai, et al. Neural network adaptive control algorithm for permanent magnet spherical motor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(1): 25-30. (in Chinese)
Citation: Liu Jingmeng, Liu Yan, Chen Weihai, et al. Neural network adaptive control algorithm for permanent magnet spherical motor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(1): 25-30. (in Chinese)

永磁球形电机的神经网络自适应控制算法

基金项目: 国家自然科学基金资助项目(50975017);高等学校博士学科点专项科研基金资助项目(20101102110006)
详细信息
  • 中图分类号: TM351

Neural network adaptive control algorithm for permanent magnet spherical motor

  • 摘要: 介绍了具有三维位置检测功能的三自由度永磁球形电机工作原理及其运动控制方法.结合球电机结构特性,基于XYZ 欧拉角和拉格朗日方程建立了球电机运动学及动力学模型.为了解决动力学模型建模误差、摩擦力和外界干扰等对球电机工作性能的影响,设计了神经网络逼近模型,并将其应用于球电机的控制之中.仿真结果表明这种控制方法与传统方法相比可以有效提高球电机的抗干扰能力,在建模误差比较大的情况下仍可以保证球电机的运动精度,其结果可以为进一步的球电机精密运动控制理论研究和实验方案设计提供借鉴和参考.

     

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出版历程
  • 收稿日期:  2013-03-28
  • 网络出版日期:  2014-01-20

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