摘要
建立了以气缸和气动阀为主的电力机器人位置控制系统的动力模型.根据系统的非线性特点,引入神经网络控制策略.利用神经网络自学习、非线性映射等特点,设计出基于BP网络的PID控制器,并进行仿真.结果表明,这种控制策略,能明显地改善系统的动静态性能,可以实现气缸活塞全行程任意位置的精确定位.
The mathematical model of the position control system in power robot,which is primarily composed of cylinder and the pneumatic valve,is build. According to non-linear in the system, neural network control strategy is introduced. Neural network controller based on BP has been designed and Emulated by means of a serial of advantages of self-learning and non-linear reflexion ability. The result proves that the control strategy can obviously improve the dynamic and static capability, realizing the precise position at any point within the stroke.
出处
《河南科学》
2007年第2期266-268,共3页
Henan Science
关键词
气动位置控制
神经网络控制
定位精度
pneumatic position control
neural network control
positioning precision
