【作者】 郭继峰；

【导师】 任洪娥；

【作者基本信息】 东北林业大学 ， 计算机应用技术， 2005， 硕士

【摘要】 本文根据弯曲木加工过程中的非线性因素众多,精确数学模型难以建立的控制特点,提出了将模糊控制和神经网络控制两种智能控制技术应用于弯曲木成型加工机械人控制系统中,并取得满意的控制效果。 论文首先针对弯曲木加工机械人控制系统的特点,采用研华工业控制计算机和基于DSP步进运动控制器的二级控制方案,设计出了弯曲木加工机器人的计算机控制系统的硬件部分。该系统硬件采用模块化设计,提高了系统的可靠性,便于控制系统的升级及扩展,为弯曲木加工控制系统的智能控制算法的实现搭建了试验平台。 随后,文中详细论述了智能控制理论在弯曲木加工控制系统中的应用,着重研究了模糊控制和神经网络模糊控制两种智能控制方法,设计出可调比例因子的模糊控制器。推导误差反向传播算法,根据此算法设计出基于BP网络的模糊神经网络训练编程公式,并编写神经网络训练软件,训练出满足弯曲控制要求的神经网络。试验结果表明,此智能控制系统具有良好的抗干扰性和鲁棒性,可以达到木材弯曲的特殊要求。 最后,结合硬件完成了控制系统软件设计。软件系统采用Visual C++ 6.0程序设计语言,在Windows平台上设计了一套模块化弯曲木加工机械人软件系统。包括系统软件关键管理功能实现、运动控制的软件编程和系统控制软件研究三部分。并通过整机试验检测了控制系统硬件和软件的功能。 本文是以国家“863”高技术项目“弯曲木成型加工机械人生产线”为课题来源,并得到了它的资助。更多还原

【Abstract】 Because there are so many non-linear elements in processing of wood bending that it is very difficult to establishe an accurate mathematic model of the control system. According to these characteristics this thesis apply the fussy control and neural net-work fussy control in the control system of bending wood robot.First, to the characteristics of the control system of bending wood robot, the thesis adopt the two-class control scheme based on Advantech industrial computer and DSP-based motion controller, designed the hardware of the control system. Module design method is adopted in hardware of control system to heighten the stability of system and make it easy to upgrade.Later on, the application of intelligence control theory was discussed in detail in the paper. The fussy control and neural net-work fussy control to the wood bending process is brought forward and the fuzzy controller that has adjustable scale factor is designed. The error back propagation arithmetic was deduced in the paper and according to this arithmetic design the train formulation for programming of fuzzy neural net-work based BP net-work and network training sofeware, and attain a satisfacted request neural net-work The result of experiment has proved that the intelligent control system can attain special request of the bending woodcontrol and good robust and anti-jamming.The lastly, combined the hardware the paper complete the design of control system software. The software is programmed with Visual C++6.0.A set of software system that is based on module and Windows is designed for bending wood manufacture robot. It includes the realization of system software key management function, programme of software on motion control and the study of system control software. The hardware and software performance of the control system is tested by the machine examination in the end.This thesis is with the nation "863" high technology item "bending wood robot product line" for the subject source, and has got subsidizing of it.更多还原