基于改进Elman网络的X-Y定位平台力/位置控制  

The Force/Position Control Based on Modified Elman Neural Network for X-Y Positioning Table

作　　者：温淑焕[1] 强艳辉[1] 

机构地区：[1]燕山大学西校区电院工业计算机控制工程河北省重点实验室,河北秦皇岛066004

出　　处：《机床与液压》2009年第7期117-120,122,共5页Machine Tool & Hydraulics

基　　金：河北省科技攻关项目(07213526)

摘　　要：利用X-Y定位平台进行抛光、磨削等作业时,需要在精确位置跟踪的同时对接触表面施加一定的期望力。针对此种受限X-Y平台系统,提出了一种基于改进Elman网络的力/位置控制器。将改进Elman网络用于X-Y定位平台的力控制回路中,利用改进Elman网络学习力控制中的不确定上界,并与反馈控制器结合,进一步确保了控制系统的稳定性,有效地提高了系统的精度和自适应能力。仿真结果表明了该控制方法在X-Y定位平台力/位置控制中的有效性。When the X-Y positioning table is used to do the work such as polishing, grinding, the purpose of controlling is to control the contact force between the enviroment and object in the constrained direction and the motion of the object in unconstrained directions. A kind of force/position controller based on modeified Elman neural network was presented for constrained X-Y positioning table. In force control, the Elman neural network was applied to learning the upper bound of system uncertainties and combing it with feedback controller, the stability or robustness of the system was ensured, and precision and adapt ability was improved effectively. The results of numerical simulation demonstrate the effectiveness of the proposed controllers for X-Y positioning table.

关 键 词：X—Y定位平台 改进Elman网络 力/位置控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]