Double-Neuro-Sliding Mode Position Control for Direct Drive Turning Table Servo System Based on Genetic Algorithms

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1、Double-Neuro-SlidingModePositionControlforDirectDriveTurningTableServoSystemBasedonGeneticAlgorithmsChuanshengTangYuehongDaiSchoolofMechatronicsEngineeringSchoolofMechatronicsEngineeringUniversityofElectronicScienceandTechnologyofChinaUniversityofElectron

2、icScienceandTechnologyofChinaChengduSichuanChinaChengduSichuanChina611731611731Abstract-Consideringtheparameterstimevariation,highᴀ᭛㒧ড়⒥῵᥻ࠊঞ⼲㒣㔥㒰᥻ࠊⱘ⡍⚍ˈᦤߎњϔ⾡nonlinear,disturbanceandmechanicalresonanceofdirect-driveঠ⼲㒣㔥㒰⒥῵᥻ࠊᮍᓣˈ߽⫼ϸϾ⼲㒣㔥㒰ߚ߿ᅲ⦄ㄝturingtable,adouble

3、neuro-slidingmodepositioncontrolbasedᬜ᥻ࠊ੠ߛᤶ᥻ࠊˈᑊ䗮䖛ᔍᗻBPㅫ⊩੠䘫Ӵㅫ⊩ߚ߿ᅲongeneticalgorithmsisproposed.Theturningtablecontrol⦄⼲㒣㔥㒰䆁㒗ᴗؐⱘ೼㒓Ӭ࣪DŽsystemconsistsofslidingmodecontrolandslidingswithcontrol,thetwocontrolisusedbytwoneuralnetworksrespectively,anduseelasticBPal

4、gorithmsandgeneticalgorithms(GA)toonlineII.Ⳉ偅䕀ৄ㋏㒳ⱘ᭄ᄺ῵ൟoptimizetheweighoftheneuralnetwork.Simulationresultsdemonstratethattheschemecaneffectivelyachievetrackingperformanceandhasstrongrobustness.Keywords-Direct-driveturningtable;neuralnetwork;slidingmodeⳈ偅䕀

5、ৄ㋏㒳ᰃ⬅࡯ⶽ⬉ᴎⳈ᥹偅ࡼˈ䕀ৄ੠࡯ⶽ⬉ᴎcontrol;geneticalgorithmЎ߮ᗻ䖲᥹DŽᔧাৃ㗗㰥෎⊶ߚ䞣ᯊˈৃ䞛⫼d-qതᷛ㋏ϟⱘ῵ൟˈ⬉⌕ݙ⦃Ҹid=0ˈৃᕫ೼d-qതᷛ㋏ϟⱘࡼᗕᮍ...I.ᓩ㿔⿟[11]Ў˖Te=KTiq=TL+Bθ+Jθ(1)⬅ѢⳈ偅䕀ৄ㋏㒳ᄬ೼খ᭄ব࣪ǃ催ᑺ䴲㒓ᗻঞᴎẄ䇤ᓣЁˈ«Ў䕀ᄤⱘ㾦ԡ⿏˗JЎᭈϾ䕀ৄ㋏㒳ⱘ䕀ࡼᛃ䞣˗ᤃㄝϡ⹂ᅮᗻ಴㋴ˈҢ㗠㒭Ⳉ偅䕀ৄ㋏㒳ⱘ᥻ࠊᏺᴹњϔᅮⱘ䲒ᑺDŽӴ㒳ⱘ᥻ࠊᮍᓣ䛑ձ䌪Ѣ㋏㒳ⱘ᭄ᄺ῵ൟDŽ⒥˞Ў㉬⒲ᨽ᪺㋏᭄˗TeЎ⬉⺕䕀ⶽ˗TLЎ䋳䕑

6、䕀ⶽ˗KT˙ˏ̌¸̂/2Ў䕀ⶽ㋏᭄˗iqЎᅮᄤ⬉⌕q䕈ߚ䞣DŽⳈ偅䕀῵᥻ࠊ݋᳝ᖿ䗳ડᑨǃᇍখ᭄ব࣪ঞᡄࡼϡ♉ᬣㄝӬ⚍ˈৄ㋏㒳ԡ㕂᥻ࠊ῵ൟབ೒1᠔⼎DŽԚᰃ䖭⾡᥻ࠊᮍᓣᆍᯧߎ⦄¯ᡪᤃāˈᕜ໮᭛⤂䩜ᇍℸ䯂乬خњⷨおDŽ⍜䰸ᡪᤃⱘᐌ⫼ᮍ⊩ᰃ䖍⬠ሖⱘᮍ⊩ˈ䗮䖛ᬍব䖍⬠ሖⱘ८ᑺᴹ㦋ᕫ᳔Շᡫᤃᬜᵰ[1-4]ˈ䆹ᮍ⊩㛑໳䆕㋏㒳⢊ᗕᬊᬯࠄ⒥῵䴶ЎЁᖗⱘ䖍⬠ሖˈԚϡ㛑Փ⢊ᗕᬊᬯࠄ⒥῵DŽ᭛⤂[5-8]߽⫼㾖⌟఼ᴹ⍜䰸໪⬠ᑆᡄঞϡ⹂ᅮ乍ⱘᕅડˈ᳝ᬜഄޣᔅњᡪᤃˈ݋᳝䕗催ⱘԄ䅵㊒ᑺˈԚϡ㛑᳝ᬜᖿ䗳ⱘᅲ⦄㋏㒳ⱘ䎳䏾DŽ᭛⤂[9]ᦤߎϔ⾡෎

7、Ѣ῵㊞㞾ᄺдⱘ⒥῵ব㒧ᵘ᥻ࠊᮍ⊩ˈ⫼῵㊞⒥῵᥻ࠊ఼ᴹҷ᳓⒥῵ߛᤶ᥻ࠊ䚼ߚˈ䆕њ᥻ࠊᕟⱘ䖲㓁ᗻˈޣᇥњᡪᤃˈԚᰃ᮴⊩ᕏᑩ᳝ᬜഄ⍜䰸ᡪᤃDŽˈ᭛⤂[10]ᇚ⒥῵᥻೒1Ⳉ偅䕀ৄ㋏㒳ԡ㕂᥻ࠊ῵ൟࠊߚЎ⼲㒣㔥㒰᥻ࠊ੠㒓ᗻড作᥻ࠊϸ䚼ߚˈ߽⫼῵㊞⼲...㒣㔥㒰ⱘ䕧ߎҷ᳓⒥῵᥻ࠊЁⱘヺোߑ᭄ˈ᮶䆕њ᥻ࠊᕟⱘ䖲㓁ᗻˈজҢḍᴀϞ⍜䰸њᡪᤃDŽ1⬅೒1ৃᕫ:θ=A0θ+B0u+D(2)ᓣЁ˖-B/J=A0ˈKT/J=B0ˈ-TL/J=DˈA0ǃB0Ў㋏㒳ⱘᷛ⿄ؐˈuЎ䕧ܹ䞣ˈDЎ㋏㒳ⱘ䋳䕑ᑆᡄˈ㗗㰥ࠄ䕀ৄ㋏㒳ᄬ೼催ᑺ䴲㒓ᗻঞখ᭄

8、ব࣪ㄝ಴㋴ᯊˈ݊῵ൟৃ㸼⼎Ў˖1乍Ⳃ䌘ࡽ㧦࿖ኅ㊀ᄢ⑼ᛛᬏ݇乍⋡㜞ㅦऻᓣടᎿਛᔃ㧔2009ZX04001-013-04㧕978-1-4244-9439-2/11/$26.00©2011IEEE4912...ⱘDŽҢ೒2ৃҹⳟߎ⼲㒣㔥㒰NN1䆁㒗ⱘⳂᷛᰃ䕀ৄᳳᳯθ=(A+ΔA)θ+(B+ΔB)u+D00(3)ⱘ䕀㾦ؐϢ݊ᅲ䰙䕀㾦ⱘأᏂˈৃ⫼ϟᓣᴹ㸼⼎˖ᓣЁˈ´A੠´Bᰃ㋏㒳খ᭄ⱘϡ⹂ᅮ䚼ߚDŽ12E=(θ−θ)(6)2dᓣЁˈ«Ў䕀ৄ