基于神经网络控制的电力机器人位置控制系统研究  

Research on Position Control System in Power Robot Based on Neural Network

作　　者：蔡子亮[1] 胡万强[1] 

机构地区：[1]许昌学院电气信息工程学院,河南许昌461000

出　　处：《河南科学》2007年第2期266-268,共3页Henan Science

摘　　要：建立了以气缸和气动阀为主的电力机器人位置控制系统的动力模型.根据系统的非线性特点,引入神经网络控制策略.利用神经网络自学习、非线性映射等特点,设计出基于BP网络的PID控制器,并进行仿真.结果表明,这种控制策略,能明显地改善系统的动静态性能,可以实现气缸活塞全行程任意位置的精确定位.The mathematical model of the position control system in power robot,which is primarily composed of cylinder and the pneumatic valve,is build. According to non-linear in the system, neural network control strategy is introduced. Neural network controller based on BP has been designed and Emulated by means of a serial of advantages of self-learning and non-linear reflexion ability. The result proves that the control strategy can obviously improve the dynamic and static capability, realizing the precise position at any point within the stroke.

关 键 词：气动位置控制 神经网络控制 定位精度 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]