摘要
利用X-Y定位平台进行抛光、磨削等作业时,需要在精确位置跟踪的同时对接触表面施加一定的期望力。针对此种受限X-Y平台系统,提出了一种基于改进Elman网络的力/位置控制器。将改进Elman网络用于X-Y定位平台的力控制回路中,利用改进Elman网络学习力控制中的不确定上界,并与反馈控制器结合,进一步确保了控制系统的稳定性,有效地提高了系统的精度和自适应能力。仿真结果表明了该控制方法在X-Y定位平台力/位置控制中的有效性。
When the X-Y positioning table is used to do the work such as polishing, grinding, the purpose of controlling is to control the contact force between the enviroment and object in the constrained direction and the motion of the object in unconstrained directions. A kind of force/position controller based on modeified Elman neural network was presented for constrained X-Y positioning table. In force control, the Elman neural network was applied to learning the upper bound of system uncertainties and combing it with feedback controller, the stability or robustness of the system was ensured, and precision and adapt ability was improved effectively. The results of numerical simulation demonstrate the effectiveness of the proposed controllers for X-Y positioning table.
出处
《机床与液压》
北大核心
2009年第7期117-120,122,共5页
Machine Tool & Hydraulics
基金
河北省科技攻关项目(07213526)
