摘要
本文以电液位置伺服机械手第一关节为研究对象,提出一种基于NNC-PID的PC机+DSP控制方案。详细说明了系统硬件电路各部分的设计和系统软件各模块的设计。利用神经NNI-PID控制器的自学习、自适应能力实现PID控制参数的自整定,使系统具有良好的控制定位和伺服跟踪性能,NNC-PID控制器较好地解决了电液位置伺服系统存在的问题。
A design of electro-hydraulic position servo controller system was presented in this paper.the design of the system hardware based on PC＋DSP and software based on NNC-PID is analyzed.NNC-PID controller＇s self-learning and Self-adaptive Capacity with the help of neural network is utilized to realize PID control parameter＇s self adjustment.The control system of the NNC-PID Controller Shows that the good position track precision is obtained.The results prove that NNC-PID can solve the problems of the electro-hydraulic position Servo system.
出处
《北京电子科技学院学报》
2010年第4期47-53,共7页
Journal of Beijing Electronic Science And Technology Institute
