直流电机神经自适应滑模位置跟踪控制

Neural Adaptive Sliding Mode Position Tracking Control of DC Motor

针对系统部分非线性未知的直流电机的位置跟踪问题,提出了一种基于自适应控制的神经网络滑模控制策略,在这个控制策略里我们采用已有的输入输出线性化方法来消除非线性,且将神经网络的输出加入到控制器当中,仿真结果演示了变负载直流电机的位置输出能够跟踪任意给定曲线。

A neural network sliding mode-based adaptive control strategy is presented for position tracking of a DC motor with unknown system nonlinearities. In the proposed scheme, some existing techniques were integrated, such as the inputoutputlinearization technique used to cancel the nonlinearities, and neural networks used to implement the linearizing control law. It is shown that through the proposed control scheme, the rotor position of a DC motor can follow any arbitrarily selected trajectories under variable load torque. Applicability of the approach is tested via simulations.