【摘要】 针对存在未知齿隙和摩擦等非线性的双电机驱动伺服系统的控制问题,给出了双电机驱动伺服系统的模型,设计了基于三角级数多项式扩展的函数链神经网络(FLNN)在线辨识未知的齿隙和摩擦非线性,利用Backstepping方法设计了神经网络控制器,得到了同时使系统跟踪误差、驱动子系统间同步误差及网络权值的一致有界权值调整策略。仿真表明,所提出的控制策略是有效的。更多还原

【Abstract】 Aiming at the control problem of the dual-motors driving servo system with unknown backlash and friction,the model is given,and a FLNN(function link neural network) expended by trigonometric polynomials is introduced to identify those unknown backlash and friction nonlinearities online,then a neural network controller is proposed using Backstepping approach.A new tuning scheme is proposed which can guarantee the uniform boundedness of tracking error,synchronous error between subsystems and weights.Simulation illustrates the effectiveness of the proposed scheme.更多还原