摘要
针对半闭环伺服系统在使用过程中,由于机械传动系统劣化而导致的位置精度降低、动态响应特性下降的现象,提出了基于模糊控制的位置精度补偿方法。以测量得到的小样本位置误差数据为源数据,利用支持向量机对位置误差进行劣化建模,实现对位置误差的预测,并将位置误差预测值用于伺服系统的误差补偿。利用模糊比例—积分—微分控制器控制能有效改善系统动态响应的特性,通过改进模糊控制规则,使模糊控制与位置误差预测补偿有效结合,提高伺服系统位置精度和动态响应特性。
The performance deterioration of semi-closed loop servo system was due to degradation of position precision and dynamic response characteristics.To deal with this problem,position precision compensation method based on fuzzy control was put forward.By taking small samples of position error data as data source,the support vector machine（SVM） was used to model and predict position error,and the predicted error was used to compensate system error.The fuzzy prportional integral derivative（PID） control was used to improve dynamic response characteristics.By modifying fuzzy control rules,the combination of fuzzy control and position error prediction compensation was realized so as to improve position precision and dynamic response characteristics.
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2010年第3期628-635,共8页
Computer Integrated Manufacturing Systems
基金
国家863计划资助项目(2009AA043403)
国家自然科学基金资助项目(50975109)~~
关键词
半闭环
劣化
位置精度
支持向量机
模糊控制
比例—积分—微分控制器
semi-closed loop
deterioration
position precision
support vector machine
fuzzy control
prportional integral derivative controller
