Application of CMAC control in servo system with friction

被引：0

作者：

Wang Weihong ^{[1
]}

机构：

[1] Beihang Univ, Automat Dept, Beijing 100083, Peoples R China

来源：

2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11 | 2008年

关键词：

CMAC; servo system; moment force of friction; friction compensation;

D O I：

10.1109/CCDC.2008.4598023

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To resolve the wave distortion caused by friction when angular velocity passes through zero, this paper presents a digital tracking controller based on CMAC neural network (Cerebellum Model Articulation Controller) after thoroughly consideration of the friction factors in the servo system. The tracking controller consists of the feed forward controller, the PD controller and the CMAC controller. The neural network controller percepts and self-learns the moment force of friction and other disturbance, and further provide appropriate compensation. The proposed controller is shown to be effective and valid to meet the requirement of real time work, and has engineering reference value to improve dynamic tracking performance of high precise servo system.

引用

页码：3708 / 3711

页数：4

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