RBF neural network-based servo control system and method

A neural network and servo system technology, applied in the field of servo control systems, can solve the problems of low control accuracy, unsuitable for high-precision control, poor adaptability, etc., and achieve the effects of high control accuracy, convenient design work, and ensuring stability.

Inactive Publication Date: 2011-04-27
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this traditional control method has poor adaptability, and the control accuracy is low when the system is disturbed, so it is not suitable for high-precision control occasions.

Method used

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  • RBF neural network-based servo control system and method
  • RBF neural network-based servo control system and method
  • RBF neural network-based servo control system and method

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Embodiment Construction

[0013] The block diagram of the servo control system according to one embodiment of the present invention is as figure 2 shown. The controller part of the system includes a feedforward controller 101 , a PID controller 102 , a neural network controller 103 and a robust term part 104 .

[0014] figure 2 The reference numeral 106 in represents the control object of the system. The most basic part of the control object 106 is the servo execution part 1061 .

[0015] As an optional embodiment, the control object 106 may further include a current feedback part 1062 and a power amplifier part 1063, such as figure 2 shown.

[0016] figure 2 The servo control system of the illustrated embodiment also includes position detection means 105 .

[0017] Now introduce respectively according to figure 2 The modules included in the servo control system of the illustrated embodiment:

[0018] 1) Feedforward controller 101

[0019] The input of the feedforward controller 101 is a ...

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Abstract

The invention provides a neural network adaptive control method applied to a servo system in order to improve the control accuracy of the servo system, which realizes nonlinear compensation and interference suppression of the servo system and improves the tracking accuracy and the robustness of the servo system. In addition, a speed closed loop is not needed, so the entire system can be quite conveniently designed, is easy to implement in engineering and reduces the cost.

Description

technical field [0001] The present invention relates to a servo control system and method with neural network adaptive control. technical background [0002] The servo system is a complex electromechanical control system, and its essence can be regarded as a position closed-loop control system driven by a motor, which plays an important role in national production and national defense construction. Because it occupies a very important position in various fields, the requirements for its performance are constantly increasing, especially in cutting-edge fields such as national defense, military and aerospace. It can be seen from the general development trend of servo systems at home and abroad that "high response, ultra-low speed, and high precision" are its main development directions. Among them, "high frequency response" reflects the ability of the servo system to track high-frequency signals, that is, the system's tracking ability when the position command signal is const...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12G05B13/02
Inventor 扈宏杰战平王林吕博王希洋
Owner BEIHANG UNIV
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