Unmanned driving anti-swing positioning method and system based on self-adaptive neural fuzzy control

Abstract

The invention provides an unmanned driving anti-swing positioning method and system based on self-adaptive neural fuzzy control. The method is based on a multi-layer forward neural network and a first-order Sugeno fuzzy model, a fuzzy inference system is established through adaptive modeling, and the neural network technology is used for learning a large number of known data to achieve rapid anti-swing and accurate positioning of unmanned driving. The fuzzy inference system is established by utilizing the self-learning capability of the neural network, the membership function is adjusted and the fuzzy rule is automatically generated according to a data set generated by the optimal control algorithm, and problems of randomness of determination of the membership function of the fuzzy systemand difficulty in extraction of the fuzzy rule are solved. Under the condition that the rope length changes within a small range, the unmanned driving anti-swing positioning method and system based onself-adaptive neural fuzzy control have the advantages of being good in robustness, simple in algorithm, high in anti-swing positioning precision and the like.

Description

technical field [0001] The invention belongs to the field of unmanned vehicle anti-sway positioning control, and in particular relates to an unmanned vehicle anti-sway positioning method and system based on adaptive neuro-fuzzy control. Background technique [0002] The load of the bridge crane will inevitably sway during the hoisting process. The research on eliminating the sway of the load when the bridge crane is hoisting and realizing accurate positioning is of great importance for improving the operation efficiency, handling accuracy and industrial control automation of industrial sites. significance. At present, the traditional anti-sway technology can no longer meet the daily industrial needs due to factors such as expensive mechanical equipment, unstable manual operation, and poor positioning effect. Therefore, unmanned vehicles equipped with anti-sway positioning systems have been promoted in industrial sites. Algorithms such as input shaping, PID control and slidi...

AI Technical Summary

Problems solved by technology

However, after the learning is completed, the relationship derived from the input and output data is too complex to be applied in the industrial field

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