感应式磁悬浮球形主动关节的模糊神经网络控制研究

Internal Model Control of Inductive Magnetic Suspension Spherical Active Joints Based on Fuzzy Neural Network Inverse System

磁悬浮球形主动关节机械集成度高,在控制和轨迹规划方面占有优势.文章提出基于模糊神经网络控制的感应式磁悬浮球形主动关节系统,建立了三维电机电磁功率平衡关系的电磁转矩和电磁悬浮力模型;基于模糊神经网络逆系统对电机进行多变量耦合关系解耦控制,建立关节系统的ANFIS模型,并对关节控制系统进行了系统仿真分析和实验研究.

Maglev spherical initiative joints with high mechanical integrity are dominant in the control and trajectory planning .The article established the three dimensional electromagnetic model of electromag‐netic torque and levitation force based on the inductive maglev spherical initiative joints system controlled by the fuzzy neural network and the ANFIS model of joints to decouple the multivariable coupling relation‐ship based on the inverse system to the fuzzy neural network .The simulation analysis and experimental verification on the joint control system are also operated .