基于BP算法的数字式机械臂系统控制

Control of Machine Arm System Based on BP Algorithm

基于 BP 算法的三自由度数字式机械臂系统控制用计算机作数字控制器,电位计测量车位置、上下摆角度。BP 作模型辨识器,用单神经元控制器控制输入通道。设 BP 模型输入层为 5 节点,分别控制电压当前值、前两个周期值、小车位置的当前值和前一周期值。将推导的误差带入反向传播算法中,调节输入层与隐含层间权值矩阵,求出精确权值解。由计算机产生实时控制指令驱动电机控制吊车位移、上下摆角,实现其精度控制。

Computer is used as digital controller in control system of three-freedom degree digital machine arm based on BP algorithm, and potentiometer measures position of hoist and up-down pendulum angle. BP is used as model identifier, and its input channel is controlled single nerve cell controller. Supposing input layer has 5 points, and separately controlled current value of voltage, voltage value of previous two-step, the value of current car position, and the value of previous position. The deduced error is inputted to the back-propagation algorithm, and then, the weighting matrix between input layer and hidden layer was modulated to calculate the precise solution of weighting matrix. Computer generates real time control command to drive motor controls displacement and up-down pendulum angle of hoist, its precise control is realized through this method.