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

Zhai Chuanrun¹、 ZhanXingqun¹、 Zhang Yanhua¹、 Ran Xianglai²、 Zhao Keding³

Strategic Study of CAE ›› 2001, Vol. 3 ›› Issue (10) : 36-40.

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Strategic Study of CAE ›› 2001, Vol. 3 ›› Issue (10) : 36-40.

Academic Papers

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

Zhai Chuanrun¹、 ZhanXingqun¹、 Zhang Yanhua¹、 Ran Xianglai²、 Zhao Keding³

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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.

Keywords

6-DOF in-parallel platform / CMAC neural network / kinematics / kinetics

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Zhai Chuanrun,ZhanXingqun,Zhang Yanhua,Ran Xianglai,Zhao Keding. Analysis of Characteristics and CMAC Neural Networks Controller of Electrohydraulic Servo System of the 6-DOF Paralle Platform. Strategic Study of CAE, 2001, 3(10): 36‒40