提高电动加载系统输出平滑的CMAC复合控制

杨波; 程龙

提高电动加载系统输出平滑的CMAC复合控制

杨波,
程龙

北京航空航天大学自动化科学与电气工程学院, 北京 100191

基金项目: 国家自然科学基金资助项目(51277008)

详细信息

中图分类号: TP273
计量
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- 被引次数: 0
出版历程
- 收稿日期: 2012-06-12
- 网络出版日期: 2013-06-30

Improving the output smoothing of the electric loading system based on the CMAC+PD compound control strategy

Yang Bo,
Cheng Long

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: CMAC(Cerebellar Model Articulation Controller) 和PD(Proportional Derivative)复合控制算法有时因输出不平滑会引起加载电机抖动而影响控制效果.通过对该输出不平滑问题进行分析,提出了一种新的提高输出平滑性的改进CMAC复合控制算法,该方法通过新的权值更新公式,在权值更新时直接达到减小误差和提高输出平滑性的目的.仿真和实验结果表明:改进后的算法能够有效提高输出平滑性,降低了21%的稳态误差,且保证在加载时有良好的稳定性和抗干扰能力.
- 电动加载系统 /
- 小脑模型神经网络 /
- 权值平滑 /
- 权值更新公式
Abstract: Cerebellar model articulation controller and proportional derivative (CMAC+PD) compound control strategy had an unsmooth output, which would increase the vibration of loading motor and decrease the control performance. An improved CMAC+PD compound control strategy with a new weights updating formula was proposed after analyzing the reason of the unsmooth problem. The improved CMAC+PD compound control strategy could not only decrease the error, but also improve the output smoothness in the weights updating process. The simulation and experimental results demonstrated that the improved CMAC+PD compound control strategy has a more smooth output and a better stability performance than the conventional CMAC+PD compound control strategy. And the steady state error is reduced by 21%.
- electric loading system /
- cerebellar model articulation controller(CMAC) /
- weight smoothing /
- weights updating formula

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参考文献(9)

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