| 基于过程神经网络的六维力传感器动态解耦研究 |
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| 引用本文： | 王毓,许德章,张家敏,许曙.基于过程神经网络的六维力传感器动态解耦研究[J].重庆文理学院学报,2016,35(5):34-40. |
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| 作者姓名： | 王毓 许德章 张家敏 许曙 |
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| 作者单位： | 安徽工程大学机械与汽车工程学院， 安徽芜湖241000,安徽工程大学机械与汽车工程学院， 安徽芜湖241000,安徽工程大学机械与汽车工程学院， 安徽芜湖241000,安徽工程大学机械与汽车工程学院， 安徽芜湖241000 |
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| 基金项目： | 国家自然科学基金资助项目（51175001） |
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| 摘 要： | 六维力传感器动态解耦方法主要集中于不变性动态解耦方法和迭代解耦方法，其解耦效果取决于建模精度，强耦合情况下解耦误差大，工程实现复杂.文章针对这一问题提出一种基于过程神经网络动态解耦算法，将六维力传感器输入输出及网络权函数进行相同正交基展开，简化计算过程，求解六维力传感器输出输入耦合关系.实验结果表明，过程神经网络在六维力传感器动态解耦中应用效果良好，为动态解耦提供了一种新方法.
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| 关 键 词： | 六维力传感器 动态解耦 过程神经网络 正交基展开 |
Research on dynamic decoupling of six-axis force sensor base on the procedure neural networks |
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| WANG Yu,XU Dezhang,ZHANG Jiamin and WANG Yu,XU Dezhang,ZHANG Jiamin,XU Shu.Research on dynamic decoupling of six-axis force sensor base on the procedure neural networks[J].Journal of Chongqing University of Arts and Sciences,2016,35(5):34-40. |
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| Authors: | WANG Yu XU Dezhang ZHANG Jiamin and WANG Yu XU Dezhang ZHANG Jiamin XU Shu |
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| Affiliation: | College of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu Anhui 241000, China,College of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu Anhui 241000, China,College of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu Anhui 241000, China and College of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu Anhui 241000, China |
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| Abstract: | The main dynamic decoupling method of six-axis force sensor focused on constance dynamic decoupling method and the iterative dynamic decoupling method. In the case of the strong coupling, decoupling will produce large errors and the project is complex. Aiming at the problem, this paper offers a dynamic decoupling algorithm for this problem based on process neural network, which expand the input and output functions of the six-axis force sensor and the connection weight functions of the network based on orthogonal function basis expanses and simplify calculation process. Also it is to solve the relationship of the six-axis force sensor and the input, output of coupling. Experimental results show that the process of application of neural network has good effect on the six-axis force sensor dynamic decoupling and provides a new method for the dynamic decoupling. |
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| Keywords: | six-axis force sensor dynamic decoupling procedure neural networks orthogonal basis expansion |
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