RBF adaptive neural network repetitive controller suitable for repetitive servo system

A repetitive controller and neural network technology, applied in the control of electromechanical brakes, control systems, control generators, etc., can solve problems such as periodic interference

Active Publication Date: 2020-05-29
ZHEJIANG UNIV OF TECH
View PDF6 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the controller design problem under the condition of periodic disturbance and unknown model in the repetitive servo system in complex working conditions, the present invention provides an RBF adaptive neural network repetitive controller suitable for the repetitive servo system. The invention aims

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • RBF adaptive neural network repetitive controller suitable for repetitive servo system
  • RBF adaptive neural network repetitive controller suitable for repetitive servo system
  • RBF adaptive neural network repetitive controller suitable for repetitive servo system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0094] The present invention will be further described below in conjunction with the accompanying drawings.

[0095] refer to Figure 1 to Figure 8 , a RBF adaptive neural network repetitive controller suitable for repetitive servo systems, through RBF neural network adaptive adjustment weights to approach the servo motor input and output differential equation of unknown parameters, and according to the repetitive control method, using the previous The periodic operation information is used to correct the control quantity at the current moment to overcome the periodic interference and realize the tracking of the output quantity to the given periodic reference signal;

[0096] For the servo motor system, its mathematical model is described by input and output differential equations

[0097] the y k+1 =f(y k )+u k +w k (1)

[0098] where y k Output position signal for the motor, f(y k ) is the motor model with unknown parameters, u k is the input control quantity, w k...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an RBF adaptive neural network repetitive controller suitable for a repetitive servo system. According to the controller, the self-adaptive weight adjustment of an RBF neural network is utilized to approximate a servo motor input and output differential equation with unknown parameters; according to a repetitive control method, a control quantity at the current moment is corrected by utilizing the operation information of a previous period, so that periodic interference is overcome, and the tracking of a given periodic reference signal by an output quantity is realized.According to the RBF adaptive neural network repetitive controller suitable for the repetitive servo system, on the basis of the periodic operation characteristics of the repetitive servo system, onone hand, the RBF neural network is utilized to approximate the system model of unknown parameters, and on the other hand, the repetitive control method is introduced to eliminate common periodic interference in an repetitive operation process.

Description

technical field [0001] The invention relates to repetitive control technology, and is especially suitable for servo systems with unknown motor parameters under periodic reference signals, and also suitable for other periodic operation processes in industrial occasions. Background technique [0002] In industrial production sites, there are many repetitive operations. For example, when industrial robots perform tasks such as welding, handling, palletizing, milling and painting, they need to automatically and repeatedly perform work according to preset instructions. When the automatic arc welding robot performs the welding operation, it uses the welding seam track tracking technology to run along the welding seam while the length and quality of the welding rod gradually decrease. After completing an operation, it returns to the starting point and repeats the operation. The palletizing robot has the functions of repeated handling and palletizing, and requires high repeat posit...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): H02P23/00H02P21/00
CPCH02P21/0003H02P21/0014H02P23/0004H02P23/0018
Inventor 周文委孙明轩翁国庆张有兵陈强
Owner ZHEJIANG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap