The temperature models of anode and cathode of direct methanol fuel cell （DMFC） stack were established by using radial basis function （RBF） neural networks identification technique to deal with the modeling and co...The temperature models of anode and cathode of direct methanol fuel cell （DMFC） stack were established by using radial basis function （RBF） neural networks identification technique to deal with the modeling and control problem of DMFC stack. An adaptive fuzzy neural networks temperature controller was designed based on the identification models established, and parameters of the controller were regulated by novel back propagation （BP） algorithm. Simulation results show that the RBF neural networks identification modeling method is correct, effective and the models established have good accuracy. Moreover, performance of the adaptive fuzzy neural networks temperature controller designed is superior.展开更多
基金Project supported by National High-Technology Research and De-velopment Program of China (Grant No .2003AA517020)
文摘The temperature models of anode and cathode of direct methanol fuel cell （DMFC） stack were established by using radial basis function （RBF） neural networks identification technique to deal with the modeling and control problem of DMFC stack. An adaptive fuzzy neural networks temperature controller was designed based on the identification models established, and parameters of the controller were regulated by novel back propagation （BP） algorithm. Simulation results show that the RBF neural networks identification modeling method is correct, effective and the models established have good accuracy. Moreover, performance of the adaptive fuzzy neural networks temperature controller designed is superior.
文摘在下肢康复机器人的康复训练过程中,模型参数、环境干扰等不确定性因素会影响机器人轨迹跟踪的精度。针对这一问题,提出了一种基于径向基函数(Radial Basis Function,RBF)神经网络的自适应补偿控制,该控制方法能够提高机械系统轨迹跟踪的精确性。首先,设计一款具有4种工作模式、运动稳定的闭链卧式下肢康复机器人结构;然后,利用拉格朗日方法求解动力学名义模型,将康复装置的模型参数以及外界干扰等不确定性因素分离出来,并设计基于RBF神经网络的自适应补偿算法对其进行逼近控制;最后,通过Matlab/Simulink环境对其进行仿真验证,证明了该控制策略的有效性。结果显示,在人体步态曲线轨迹跟踪中,提出的基于RBF神经网络的自适应补偿算法相比传统的模糊比例-积分-微分(Proportional Integral Derivative,PID)控制的方法响应速度快、跟踪效果好,且髋关节和膝关节轨迹跟踪的角度误差峰值分别为0.08°和0.13°,远小于患者下肢在康复运动中的转动角度。设计了单腿样机试验,试验结果表明,采用的RBF补偿自适应控制器能够实现高精度的跟踪结果,也能够满足患者在康复训练中安全性的要求。
