Based on consideration of the differential relations between the immeasurable variables and measurable variables in electro-hydraulic servo system,adaptive dynamic recurrent fuzzy neural networks(ADRFNNs) were employe...Based on consideration of the differential relations between the immeasurable variables and measurable variables in electro-hydraulic servo system,adaptive dynamic recurrent fuzzy neural networks(ADRFNNs) were employed to identify the primary uncertainty and the mathematic model of the system was turned into an equivalent linear model with terms of secondary uncertainty.At the same time,gain adaptive sliding mode variable structure control(GASMVSC) was employed to synthesize the control effort.The results show that the unrealization problem caused by some system's immeasurable state variables in traditional fuzzy neural networks(TFNN) taking all state variables as its inputs is overcome.On the other hand,the identification by the ADRFNNs online with high accuracy and the adaptive function of the correction term's gain in the GASMVSC make the system possess strong robustness and improved steady accuracy,and the chattering phenomenon of the control effort is also suppressed effectively.展开更多
The nonlinear dynamic system of spacecraft with uncertainty and coupling is analyzed and its general dynamical equation is given.The decoupling-ability and controllability are proved.Aiming at this system,a new nonlin...The nonlinear dynamic system of spacecraft with uncertainty and coupling is analyzed and its general dynamical equation is given.The decoupling-ability and controllability are proved.Aiming at this system,a new nonlinear decoupling controlling method is put forward by synthetically using the variable structure and fuzzy theory.The simulation results show that this method is effective in tracking performances under the existence of uncertainty and outer disturbance.展开更多
针对多节点结构的爬架在运行中同步控制精度易受外部扰动的问题,提出一种基于滑模变结构的偏差耦合控制方法。首先,对爬架位置测量方法进行研究和分析,建立爬架动力学模型;其次,运用模糊PID(proportion integral differential)控制算法...针对多节点结构的爬架在运行中同步控制精度易受外部扰动的问题,提出一种基于滑模变结构的偏差耦合控制方法。首先,对爬架位置测量方法进行研究和分析,建立爬架动力学模型;其次,运用模糊PID(proportion integral differential)控制算法来提高偏差耦合的控制精度,并将模糊控制与滑模控制结合,设计一种模糊滑模位移控制器来消除抖动,以此来提高各节点之间的同步控制性能;最后,通过MATLAB/Simulink进行仿真和实验进行验证。仿真和实验结果表明:与传统偏差耦合结构相比,所提方法在受到干扰的情况下各节点之间的误差分别降低68.2%、73.5%、78.2%,具有更佳的同步精度,而且具有良好的鲁棒性。展开更多
基金Project(60634020) supported by the National Natural Science Foundation of China
文摘Based on consideration of the differential relations between the immeasurable variables and measurable variables in electro-hydraulic servo system,adaptive dynamic recurrent fuzzy neural networks(ADRFNNs) were employed to identify the primary uncertainty and the mathematic model of the system was turned into an equivalent linear model with terms of secondary uncertainty.At the same time,gain adaptive sliding mode variable structure control(GASMVSC) was employed to synthesize the control effort.The results show that the unrealization problem caused by some system's immeasurable state variables in traditional fuzzy neural networks(TFNN) taking all state variables as its inputs is overcome.On the other hand,the identification by the ADRFNNs online with high accuracy and the adaptive function of the correction term's gain in the GASMVSC make the system possess strong robustness and improved steady accuracy,and the chattering phenomenon of the control effort is also suppressed effectively.
文摘The nonlinear dynamic system of spacecraft with uncertainty and coupling is analyzed and its general dynamical equation is given.The decoupling-ability and controllability are proved.Aiming at this system,a new nonlinear decoupling controlling method is put forward by synthetically using the variable structure and fuzzy theory.The simulation results show that this method is effective in tracking performances under the existence of uncertainty and outer disturbance.
文摘针对多节点结构的爬架在运行中同步控制精度易受外部扰动的问题,提出一种基于滑模变结构的偏差耦合控制方法。首先,对爬架位置测量方法进行研究和分析,建立爬架动力学模型;其次,运用模糊PID(proportion integral differential)控制算法来提高偏差耦合的控制精度,并将模糊控制与滑模控制结合,设计一种模糊滑模位移控制器来消除抖动,以此来提高各节点之间的同步控制性能;最后,通过MATLAB/Simulink进行仿真和实验进行验证。仿真和实验结果表明:与传统偏差耦合结构相比,所提方法在受到干扰的情况下各节点之间的误差分别降低68.2%、73.5%、78.2%,具有更佳的同步精度,而且具有良好的鲁棒性。
