基于自抗扰的H型平台模糊神经网络同步控制

Fuzzy Neural Network Synchronous Control of H-type Platform Based on Active Disturbance Rejection

为减小参数摄动、负载扰动、摩擦力等不确定扰动对H型平台中双直线电机位置同步精度的影响,提出一种自抗扰控制器(Active disturbance rejection controller,ADRC)和模糊型pi-sigma神经网络同步补偿器相结合的控制方法。采用自抗扰技术来观测未建模扰动和外界扰动,并将这些扰动视为系统的“总扰动”,实时给予补偿,以减小永磁直线同步电机(Permanent magnet linear synchronous motor,PMLSM)伺服系统的位置跟踪误差;同时,针对直驱H型平台双轴间的机械耦合和两台电机间参数动态不匹配的影响,采用模糊型pi-sigma神经网络同步补偿器以减小直驱H型平台的同步误差。最后,通过仿真验证,该控制策略可以有效提高H型平台的跟踪精度和同步精度,增强系统的抗扰性。

In order to reduce the influence of parameter perturbation,load disturbance,friction disturbance and other uncertain disturbances on the position synchronization accuracy of dual linear motors in H-type platform,a control method combining active disturbance rejection controller(ADRC)and fuzzy pi-sigma neural network synchronous compensator is proposed.In order to reduce the position tracking error of permanent magnet linear synchronous motor(PMLSM)servo system,active disturbance rejection technology is used to observe the unmodeled disturbance and external disturbance,and these disturbances are regarded as the“total disturbance”of the system,which can be compensated in real time.At the same time,aiming at the mechanical coupling between the two shafts and the dynamic parameter mismatch between the motors of the direct drive H-type platform,the fuzzy pi-sigma neural network synchronous compensator is used to reduce the synchronization error of the direct drive H-type platform.Finally,the simulation results show that the control strategy can effectively improve the tracking accuracy and synchronization accuracy of the direct drive H-type platform,and enhance the anti-interference performance of the system.