超声电机驱动的机器人的模糊神经网络控制

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1、282Vol.28No.220064PIEZOELECTECTRICS&ACOUSTOOPTICSApr.2006:10042474(2006)020143041,2,1(1.,210016;2.,,330034):,,,,,,,,:;;;:TM356:AFuzzyneuronNetworkControlTechniquesAppliedtoaRobotDrivenDirectlybyUltrasonicMotorsHEHonglin1,2,ZHAOChunsheng1(1.ResearchCenterofUltraso

2、nicMotors,NanjingUniversityofAeronauticsandAstronautics,Nanjing210016,China;2.MechanicalDepartment,NanchangInstituteofAeronauticsandTechnology,Nanchan330034,China)Abstract:ThecharacteristicsoftheUSMsuchaslightweight,fastresponsespeedandhightorque/massratiomakeita

3、nidealactuatorforthedirectdriverobot.BasedontheservocharacteristicsoftheUSMandthedynamicsofthemanipulator,ahybridcontrolsystemcomposedofafuzzycontrollerwhichmakesoverallsystemstablealongatrajectoryandaneuronnetworkcontrollerwhichaimstoreducethestableerrorforaplan

4、arrobotdrivenbyUSMisproposed.Thestructureofthehybridcontrllerandthedesignofthetwosubcontrollershavebeenstudied.Inordertovalidatetheeffectofthecontrolmethod,asimulationofthecontrolsystemhasbeenmade.Theresultshowsthatahighpositionprecisewillbeobtainedwithsuchahybri

5、dcontroller.Keywords:ultrasonicmotor;directdriverobot;fuzzylogicalcontroller;neuronnetworkcontroller,,,,,,[1],,,,,,,,(USM);A.KatoSCARA[2];,,,,,,1,,222,,,,,(310),,,,20901.1USM,:20040802:(50235010):(1967),,,,,,1442006[3],,nrator=-hk0/r(1);02,n,;h;k;r;dLLii=1,2,,

6、n(2),,khdtqi-qi=(1),,U12,;,0,;,,0M(q)q+V(q,q)q+G(q)+Fr(q)+d=(3)qRn;M(q)Rnn;V(q,q)qRn;G(q)Rn,FrqRn,dRn,Rn()SCARA,,(3)M11M121+M21M212-V122-V12(1+2)V121011=(4)22M11=(m1+m2)l2+m2l2+2m2l1l2cos2,2121USM2USM1.2USM,,,,,2(b),-90+90,,,,,,,,M12=M21=m2l2+m2l1l2cos2,V12=

7、m2l1l2sin2,2V22=m2l2,m1m2,l1l2(4),,,,,,,,,,,,3,,,,,3,,(FLC)2:1451(ANN),A1=NL=x/A(x)=1.0/-6+,,0.8/-5+0.4/-4+0.1/-3;2;A2=NM=x/A(x)=0.2/-6+0.7/-5+,1.0/-4+0.7/-3+0.2/-2;,;7eA7=PM=x/A(x)=0.2/2+0.7/3+e0ec1.0/4+0.7/5+0.2/6;ec0(),A8=PL=x/A(x)=0.1/3+0.4/4+flag=1e(

8、k)

9、e0

10、ec(k)

11、ec0

12、0(5)0.8/5+1/6;,YZflag,1,,0,;e(k)k,T,e(k)=d(kT)-(kT),ec(k)={e(kT)-e[(k-1)T]}/T(6)34[35]4FLC,,eec,4.2,,,81ifE=NBandDE=NBthenPHAI=NL;2ifE=NMand