Electric anti-backlash control method based on basal ganglion

Abstract

The invention discloses an electric anti-backlash control method based on basal ganglion. The method comprises the steps of constructing basal ganglion synapses based on Izhikevich spiking neurons; constructing a basal ganglion nucleus based on a leakage integral neuron model, wherein the basal ganglion nucleus comprises a striatum D1, a striatum D2, a globus pallidus outer nucleus, a globus pallidus inner nucleus and a subthalamic nucleus; connecting basal ganglion nucleus by utilizing the basal ganglion synapses to construct a basal ganglion model; and inputting load current of a motor intothe basal ganglion model, determining the importance of the motor bias voltage coefficient of each channel, selecting the motor bias voltage coefficient with the maximum importance to calculate the bias voltage of the motor, and completing the electric anti-backlash control. According to the invention, the basal ganglion synapses are constructed on the basis of the spiking neuron model, so that the bias voltage of the electric anti-backlash of the control system is more accurate.

Description

technical field [0001] The invention relates to the field of motor control, in particular to an electro-gap control method based on the basal ganglia. Background technique [0002] Gear backlash is an indispensable problem in the normal process of mechanical transmission, and gear backlash is an important factor affecting the dynamic performance and steady-state accuracy of the system. There are two methods for gear backlash elimination: mechanical backlash elimination and electro-backlash elimination. The dynamic performance of mechanical anti-backlash control lags behind and the steady-state accuracy is not high, so electro-backlash elimination is often used in industrial applications. The traditional electro-backlash method adds a fixed bias torque to the multi-motor servo system, but the fixed bias torque is prone to the phenomenon that the bias force is too large or too small, thereby increasing the power consumption of the system and reducing the output power of the mu...

AI Technical Summary

Problems solved by technology

The traditional electro-backlash method adds a fixed bias torque to the multi-motor servo system, but the fixed bias torque is prone to excessive or too small bias force, which increases the power consumption of the system and reduces the output power of the multi-motor system

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