摘要
针对伺服电机作为驱动装置的并联机器人,首先运用模糊神经网络(FNN)控制策略对驱动侧进行控制仿真,在分析结果后,结合Teiminal滑模控制方法,提出一种新的控制策略,用FNN输出代替滑模中引起抖振的切换部分,Terminal滑模函数的选取保证了输出跟踪误差在有限时间内收敛到零,仿真结果表明,所提出的控制策略可以实时的满足并联机器人的高精度,高速度控制要求。
The application of Fuzzy Neural Network（FNN） in the control of servo AC motor,which is drive device of parallel robot. After analyzing the results of simulation,a new control method is designed based on Terminal Sliding mode（TSM） and FNN, the switch part which brings quiver is replaced by output of FNN, under which condition the output tracking error converges to zero in finite time. The simulation results demonstrate the method is strongly implemented the highprecision and high-accuracy control of parallel robot.
出处
《机械设计与制造》
北大核心
2008年第5期171-173,共3页
Machinery Design & Manufacture
基金
镇江市工业科技攻关项目(GY2007006)
