Omnidirectional chassis control method based on fuzzy immune neural network algorithm

A neural network algorithm, fuzzy neural network technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as poor control accuracy, and achieve the effect of improving tracking ability and high control accuracy

Inactive Publication Date: 2018-04-20
AIR FORCE UNIV PLA
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Problems solved by technology

[0004] In order to overcome the deficiencies of poor control accuracy of existing omnidirectional chassis control methods

Method used

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  • Omnidirectional chassis control method based on fuzzy immune neural network algorithm
  • Omnidirectional chassis control method based on fuzzy immune neural network algorithm
  • Omnidirectional chassis control method based on fuzzy immune neural network algorithm

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Embodiment Construction

[0047] refer to Figure 1-9 . The specific steps of the omnidirectional chassis control method based on the fuzzy immune neural network algorithm of the present invention are as follows:

[0048] Step 1. Construct a fuzzy neural network controller for chassis control.

[0049] Initialize the neural network, the first layer of the network is the input layer, and the output error e(t) of the system and the variation of the error Δe(t) are sent to the system, The connection weight of all nodes in this layer is 1; the second layer is the fuzzy layer, and the input is fuzzy processed by the membership function. The membership function is chosen as a Gaussian distribution model function, then

[0050]

[0051] where m ij is the center of the i-th fuzzy variable k-th Gaussian function, σ ij is the width of the Gaussian function. The connection weight of all nodes in this layer is 1; the third and fourth layers are fuzzy calculation layers, which complete fuzzy calculations....

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Abstract

The invention discloses an omnidirectional chassis control method based on the fuzzy immune neural network algorithm and is used for solving the technical problem of poor control precision of the existing omnidirectional chassis control method. The technical solution is to introduce the fuzzy algorithm into the parameter setting of the chassis PID, and introduce the neural network algorithm into the fuzzy algorithm to establish a five-layer neural network. The first layer is the input layer, the input quantity is the error (t) and the error variation ([delta]e(t)) of the system output; the second layer is the fuzzification layer, and the input is fuzzed by the membership function; the third and fourth layers are the fuzzy calculation layers and used for completing the fuzzy calculation; and the fifth layer is the output layer, and is used to inversely blur the result and output it. In this process, for the parameters that need to be learned, a back-propagation (BP) algorithm is used for learning, and the immune algorithm is introduced into the learning process. The inertial navigation system, the motion control system, and the IMU are combined to improve the tracking capability fora given trajectory and the real-time trajectory of the system, and the control accuracy is high.

Description

technical field [0001] The invention relates to an omnidirectional chassis control method, in particular to an omnidirectional chassis control method based on a fuzzy immune neural network algorithm. Background technique [0002] The omni-directional motion equipment based on Mecanum wheel technology can realize motion modes such as forward movement, lateral movement, oblique movement, rotation and combinations thereof. This omnidirectional movement is based on the principle of a central wheel with a number of axles located at the periphery of the wheel. These angled peripheral axles convert a portion of the wheel steering force into a wheel normal force. [0003] The document "Application of Fuzzy PID Control on Omnidirectional Electric Chassis, Chinese Journal of Mechanical Engineering, 2014, Vol50(6), p129-134" discloses a control method for omnidirectional electric chassis based on fuzzy PID algorithm. This method aims at the electric universal chassis of Mecanum wheels...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王小平王晓光孙浩水戴聪王传奇
Owner AIR FORCE UNIV PLA
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