【摘要】 提出了一种智能算法与滑模控制相结合的控制策略,通过自适应算法对弹仓系统未知参数进行估计,通过RBF神经网络逼近滑模控制中的切换项,形成无模型控制器。在弹仓空载、半载和满载3种不同情况下进行仿真验证,结果表明,该控制算法对弹仓系统中存在的非线性摩擦力矩、啮合冲击力矩、链传动多边形效应以及其他未知的外部扰动力矩等不敏感,具有较好的鲁棒性,控制精度较高。更多还原

【Abstract】 A control strategy combining intelligent algorithm and sliding mode control was proposed. The unknown parameters of the magazine system were estimated by adaptive algorithm,and then the switching term in sliding mode control was approached by RBF neural network to form a model free controller.Simulation verification was carried out under three different conditions: no load,half load and full load.The simulation results show that the control algorithm is insensitive to the nonlinear friction moment,meshing impact moment,chain drive polygon effect and other unknown external disturbance moment in the magazine system,and has good robustness and high control accuracy.更多还原