基于遗传算法和CMAC的双电机协调控制

Coordinating Control Based on Hybrid Genetic Algorithm and CMAC For Double Motors

提出一种小脑模型神经网络(CMAC)和自适应在线遗传算法(GA)相结合的新型控制算法,应用于机器人中两轴永磁无刷直流电机的速度协调控制,利用MATLAB/SIMULINK仿真,结果证明了GA和CMAC复合控制器可以有效的消除协调控制中的转矩脉动。

A new kind of control method combined hybrid cerebellar model articulation controller （CMAC） with online adaptive genetic algorithm （GA） control method is proposed. It is used to control two brushless DC motors applied in a robot. Experimental results in MATLAB/SIMULINK software show that the torque ripple of the coordinate control is eliminated by using the hybrid CMAC and genetie algorithm.