基于小脑模型神经网络控制的混合驱动连杆机构控制系统研究

Study on The Control System of Hybrid Driving Linkage Mechanism Base on CMAC Neural Network

混合驱动连杆机构系统是一种新型的可控机构,采用一个不可控电机和一个实时可控电机作为驱动元。两种类型的输入运动通过一个两自由度运行机构复合后,可得到柔性输出运动。位置控制系统对保证混合驱动连杆机构输出精度起着决定性的作用,其控制系统要求实现高精度的跟随运动。文章运用复合控制思想,基于小脑神经网络,设计了混合驱动性杆机构的复合控制系统,并进行了仿真实验。仿真结果表明,该方法可以显著提高系统精度,且具有良好的控制性能。

Hybrid driving linkage mechanism is a new type of mechanism. A hybrid mechanism is a configuration that combines the motions of two characteristically different electric motors by means of a mechanism to produce programmable output. Where one of the motions coming from a constant speed motor provides the main power, a small servo-motor introduces programmability to the resultant actuator. Such machines will introduce to users greater flexibility with programmability option, and energy utilization will be realized at maximum. Position controlaccuracy of motion determines the profile accuracy of hybrid actuator. The CMAC neural network control system is used in this paper. By means of control system of hybrid driving linkage mechanism, follow motion of high tracking precision can be performed. Simulation results show that this method can improve the control effect remarkable.