机械与电子2017，Vol.35Issue(11)：41-46,6.
卧式链传动药仓的RBF网络自适应鲁棒滑模控制
Control of RBF Network Adaptive Robust Sliding Mode for Horizontal Chain Drive Gunpowder Storage Mechanism
詹国立 1陈龙淼1
作者信息
- 1. 南京理工大学机械工程学院,江苏南京210094
- 折叠
摘要
Abstract
The moment of inertia and the damping coefficient of the horizontal chain drive gunpowder storage mechanism change with the rotation of the system and the changes of the number of gunpowder unit.The accuracy of kinematic positioning is also affected by the polygon effect caused by chain transmission.The RBF neural network and adaptive algorithm was used to estimate the important unknown nonlinear parameters,and the equivalent expectation trajectory method was adopted to compensate the influence of polygon effect;By setting appropriate neural network parameters and adaptive terms,the change trend of position parameters was estimated;By introducing the robust terms,the stability of the sliding control strategy was guaranteed.With the appropriate equation analysis of Lyapunov,the feasibility of the algorithm was proved theoretically,which could converge the system for a limited time.Through simulation analysis,it has proved that the RBF neural network and the adaptive parameters have strong learning ability,and the proposed algorithm can guarantee the kinematic accuracy of the system,improve the stability,and reduce the chattering of the system.关键词
多边形效应/滑模控制/自适应算法/RBF神经网络Key words
polygon effect/sliding mode control/adaptive algorithm/RBF neural network分类
信息技术与安全科学引用本文复制引用
詹国立,陈龙淼..卧式链传动药仓的RBF网络自适应鲁棒滑模控制[J].机械与电子,2017,35(11):41-46,6.
