弯曲木成型加工机器人智能控制研究

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1、东北林业大学硕士学位论文弯曲木成型加工机器人智能控制研究姓名：郭继峰申请学位级别：硕士专业：计算机应用技术指导教师：任洪娥20050601AbstractBecausethereareSOmanynon—linearelementsinprocessingofwoodbendingthatitisverydifficulttoestablisheallaccuratemathematicmodelofthecontrolsystem．Accordingtothesecharacteristicsthisthesisapplythefussycontrolandneur

2、alnet—workfussycontrolinthecontrolsystemofbendingwoodrobot．First，tothecharacteristicsofthecontrolsystemofbendingwoodrobot，thethesisadoptthetwo—classcontrolschemebasedonAdvantechindustrialcomputerandDSP—basedmotioncontroller,designedthehardwareofthecontrolsystem．Moduledesignmethodisadopt

3、edinhardwareofcontrolsystemtoheightenthestabilityofsystemandmakeiteasytoupgrade．Lateron，theapplicationofintelligencecontroltheorywasdiscussedindetailinthepaper．Thefussycontrolandneuralnet-workfussycontroltothewoodbendingprocessisbroughtforwardandthefuzzycontrollerthathasadjustablescalef

4、actorisdesigned．Theerrorbackpropagationarithmeticwasdeducedinthepaperandaccordingtothisarithmeticdesignthetrainformulationforprogrammingoffuzzyneuralnet-workbasedBPnet-workandnetworktrainingsofeware，andattainasatisfactedrequestneuralnet—workTheresultofexperimenthasprovedthattheintellige

5、ntcontrolsystemcallattainspecialrequestofthebendingwoodcontrolandgoodrobustandanti-jamming．Thelastly,combinedthehardwarethepapercompletethedesignofcontrolsystemsoftware．ThesoftwareisprogrammedwithVisualC”6．0．AsetofsoftwaresystemthatisbasedonmoduleandWindowsisdesignedforbendingwoodmanufa

6、cturerobot．Itincludestherealizationofsystemsoftwarekeymanagementfunction，programmeofsoftwareonmotioncontrolandthestudyofsystemcontrolsoftware．Thehardwareandsoftwareperformanceofthecontrolsystemistestedbythemacbineexaminationintheend．Thisthesisiswiththenation“863’’hightechnologyitem‘‘ben

7、dingwoodrobotproductline'’forthesubjectsource，andhasgotsubsidizingofit．Keywordsbendingwood；robot；fuzzycontrol；neuralnet-workfussycontrol1绪论1．1课题背景弯曲木是木材加工和家具制造业中应用非常广泛的重要木制品。弯曲木家具虽然结构美观但加工比直木要困难的多。与金属、塑料等工程材料相比。最大的区别是木材为各向异性非均质纤维状低强度材料，机械性能对温度和湿度的变化十分敏感，处理不当易变形和开裂。怎样将直木高产优质地加工成