| 采用神经网络滑模控制的齿隙摩擦补偿 |
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| 引用本文： | 张大兴,贾建援,郭永献.采用神经网络滑模控制的齿隙摩擦补偿[J].电子科技大学学报(社会科学版),2008(5). |
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| 作者姓名： | 张大兴 贾建援 郭永献 |
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| 作者单位： | 西安电子科技大学机电工程学院; |
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| 基金项目： | 国家自然科学基金(10476019) |
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| 摘 要： | 基于滞环齿隙模型和集合摩擦模型,建立了齿轮传动系统动力学变结构模型。采用径向基函数(RBF)神经网络和滑模控制构成复合控制器,对系统齿隙、摩擦非线性因素进行了补偿。利用RBF神经网络调节滑模控制器的切换项增益,降低了滑模控制的抖振,提高了补偿效果,仿真结果验证了该方法的可行性。
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| 关 键 词： | 齿隙 补偿 摩擦 RBF神经网络 滑模控制 |
Neural Network Sliding Mode Control Approach to Backlash and Friction Compensation |
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| Abstract: | A variable structure dynamic model of gear driving system is established based on backlash hysteresis model and friction aggregation model. The influence of backlash and friction is compensated based on a compound controller formed by radial basis function (RBF) neural network and sliding mode. The switching plus of sliding mode controller can be adjusted by RBF neural network,which can reduce the buffeting of sliding mode control. The feasibility of this method is validated by simulation results. |
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| Keywords: | backlash compensation friction RBF neural network sliding mode control |
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