共查询到19条相似文献，搜索用时 171 毫秒
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利用神经网络离散建模算法，给出了非线性离散系统的一种新颖的迭代学习控制方法．该迭代学习控制方法允许控制初始状态误差的存在且保证仅经过几次迭代就可使系统达到很高的控制精度． 相似文献
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针对纯滞后、非线性、时变的胶黏剂生产过程,引入迭代学习控制方法,对反应液温度进行控制。仿真结果表明：与PID控制方法相比,迭代学习PID控制性能更好。 相似文献
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本文在分析传统伺服系统控制方法的基础上，阐述了一种基于BP神经网络控制的PID控制器，并对其在单环伺服系统中的应用进行了分析，仿真结果表明系统具有良好的控制性能。 相似文献
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基于迭代学习控制中的开闭环配合方案，本文提出了一类双线性型学习控制算法．针对刚性关节机器人动力学特性，文中给出了保证算法迭代收敛性的充分条件．仿真结果表明，适当选取双线性学习控制成分的增益矩阵可加速收敛过程． 相似文献
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通过分析早期交流伺服系统的工作原理,根据变频控制的特点,提出了交流伺服系统改为变频控制的方法.现场应用结果表明:变频控制系统结构简单、性能可靠、运行稳定,解决了生产过程中交流伺服系统频繁出现故障的问题. 相似文献
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在对永磁直线交流伺服电机系统进行简明论述的基础上,以 S7-200PLC 为控制核心,设计了一套伺服系统,探讨了永磁直线交流伺服系统直线运动的伺服控制方法,具有较好的工程实用性 相似文献
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混凝土搅拌站是生产水泥混凝土专用设备,搅拌站性能优劣对混凝土配料质量产生主要影响。以西城铁路混凝土搅拌站为背景条件,研究信息化施工对混凝土配料计量控制影响。采用计量落差预估方法先对搅拌站设备物料计量系统进行调控。以物料流动统计分析结果为基础,根据物料具备流动局部相关性质,运用正态分布计量落差区间法,使计量落差整体分布在稳定区间内,规避异常数据对预估方法产生的影响。由于多种因素影响搅拌站计量精度,提出迭代学习控制方法,使配料计量实际输出值逼近期望输出值。依据迭代控制思想,在搅拌站设备重复给料过程中,设定配比值即期望输出值,通过迭代学习方法找到控制量即落差量,在系统控制作用下,达到实际下料量与配比量基本一致。实验证明,运用文中方法可实现准确配料计量过程。 相似文献
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本文结合科研课题“语音控制机器人伺服系统运动技术”的内容,通过具体的实例来解析基于DSP的多自由度伺服运动系统。为工程技术人员学习、研究该系统提供借鉴经验。 相似文献
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在电液伺服控制系统设计中,由于传统的数学建模方法比较复杂,使得液压伺服系统的设计周期增长.为了准确快速地完成设计任务,本文利用面向工程设计的高级建模软件AMESim对阀控液压缸电液伺服系统进行了建模和仿真计算,并在改变系统元件参数的情况下,对电液伺服系统的动态特性进行了分析. 相似文献
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本文以便携式数字伺服实验系统为对象,研究了该伺服系统控制器的设计方法。论文描述了数字伺服系统的建模过程,详细介绍了工程设计方法,并按照典型I系统和典型II系统分别设计了电流环调节器和转速环调节器。通过MATLAB仿真对系统性能进行分析,实现了系统的双闭环控制。该算法解决了伺服系统中稳态精度和动态性能之间的矛盾,系统具有良好的动、静态性能。 相似文献
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Raising the level of biological realism by utilizing the timing of individual spikes, spiking neural networks (SNNs) are considered to be the third generation of artificial neural networks. In this work, a novel variable-structure-systems based approach for online learning of SNN is developed and tested on the identification and speed control of a real-time servo system. In this approach, neurocontroller parameters are used to define a time-varying sliding surface to lead the control error signal to zero. To prove the convergence property of the developed algorithm, the Lyapunov stability method is utilized. The results of the real-time experiments on the laboratory servo system for a number of different load conditions including nonlinear and time-varying ones indicate that the control structure exhibits a highly robust behavior against disturbances and sudden changes in the command signal. 相似文献
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本文在介绍车载DVD伺服控制系统的构成和设计原理的基础上,针对车载DVD伺服系统要求高精度、抗震动、快速响应的特点,采用了高度集成的DVD驱动器专用伺服控制芯片M5705,对DVD聚焦伺服系统进行控制。利用改进的PID算法运用到车载DVD伺服控制嵌入式系统的设计中,并对此系统进行了仿真。 相似文献
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The backstepping technique is one of the tools which provides control Lyapunov functions (CLFs) and, therefore, control laws for automatic systems. In this paper, the backstepping design for position and force nonlinear electrohydraulic servos is investigated. Three control laws ensuring the asymptotic stability of references tracking are obtained by constructing CLFs on the errors concerning the state variables and theirs desired values. The possibility of converting a position servo into a force servo, with only minimal hard modification, is proved. An approach based on partitioning the state system into two subsystems—a first one stable, and a second one taken as framework of control synthesis by backstepping technique—was developed and used. Using as reference point a flight controls hydromechanical servo, numerical simulations were reported from viewpoint of servo time constant performance. Certain conjectures, concerning the behaviour of systems mathematical models, in connection with mathematical methodologies of control synthesis operating on them, are finally stressed. 相似文献
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倒立摆系统是典型的非线性、多变量、强耦合的系统,广泛应用于对各种控制理论和控制策略的有效性的检验。文中仅使用固高公司提供的伺服电机驱动器和倒立摆本体,另行设计了ARM控制器、信号连接电路,编写了运动控制函数库,搭建了一套基于ARM控制器和Linux系统的倒立摆控制系统,并在该实验平台使用PID,极点配置,LQR等算法完成仿真实验,并运用LQR对实际系统进行控制,实现了良好的控制效果。 相似文献
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S.S. Mehta C. Ton M. Rysz Z. Kan E.A. Doucette J.W. Curtis 《Journal of The Franklin Institute》2019,356(10):5001-5026
A large class of visual servo controllers relies on an a priori obtained reference image, captured at the desired position and orientation (i.e., pose) of a camera, to yield control signals to regulate the camera from its current pose to a desired pose. In many applications, accessibility and economics of the operation may prohibit acquisition of such a reference image. This paper introduces a new visual servo control paradigm that enables control of the camera in the absence of reference image using a set of terminal constraints. Specifically, the desired pose is encoded using the angle of obliquity of the optical axis with respect to the object plane and its direction of arrival at the plane. A constrained convex optimization problem is formulated over a conic section defined by the terminal constraints to yield an error system for the control problem. Subsequently, this work introduces continuous terminal sliding mode visual servo controllers to regulate the camera to the desired pose. Lyapunov-based stability analysis guarantees that the origin is a finite-time-stable equilibrium of the system. Numerical simulation results are provided to verify the performance of the proposed visual servo controller. 相似文献
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This paper presents an extended state observer-based output feedback adaptive controller with a continuous LuGre friction compensation for a hydraulic servo control system. A continuous approximation of the LuGre friction model is employed, which preserves the main physical characteristics of the original model without increasing the complexity of the system stability analysis. By this way, continuous friction compensation is used to eliminate the majority of nonlinear dynamics in hydraulic servo system. Besides, with the development of a new parameter adaption law, the problems of parametric uncertainties are overcome so that more accurate friction compensation is realized. For another, the developed adaption law is driven by tracking errors and observation errors simultaneously. Thus, the burden of extended state observer to solve the remaining uncertainties is alleviated greatly and high gain feedback is avoided, which means better tracking performance and robustness are achieved. The designed controller handles not only matched uncertainties but also unmatched dynamics with requiring little system information, more importantly, it is based on output feedback method, in other words, the synthesized controller only relies on input signal and position output signal of the system, which greatly reduces the effects caused by signal pollution, measurement noise and other unexpected dynamics. Lyapunov-based analysis has proved this strategy presents a prescribed tracking transient performance and final tracking accuracy while obtaining asymptotic tracking performance in the presence of parametric uncertainties only. Finally, comparative experiments are conducted on a hydraulic servo platform to verify the high tracking performance of the proposed control strategy. 相似文献