六自由度并联平台特性分析及其电液位置伺服系统的CMAC神经网络控制

中国工程科学 ›› 2001, Vol. 3 ›› Issue (10) : 36 -40.

学术论文

翟传润,战兴群,张炎华,冉祥耒,赵克定

作者信息 +

Analysis of Characteristics and CMAC Neural Networks Controller of Electrohydraulic Servo System of the 6-DOF Paralle Platform

Zhai Chuanrun,ZhanXingqun,Zhang Yanhua,Ran Xianglai,Zhao Keding

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文章历史 +

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摘要

以六自由度运动平台为研究对象，分析了平台的运动学和动力学问题，采用了CMAC神经网络作为控制器，实现运动轨迹的跟踪。仿真表明所作的运动学、动力学分析是正确的，控制器具有较强的抗负载干扰能力和良好的鲁棒性。

Abstract

This paper analyzed the kinematics and dynamics of the 6-DOF platform, and adopted CMAC Neural Networks as controller to realize tailing track. Simulation results showed that the analysis of kinematics and dynamics was correct and the controller had the capabilities of resisting disturbance and good robustness.