摘要
分析了摩擦的特性及其对伺服系统的影响。提出了一种基于ＣＭＡＣ神经网络的摩擦补偿方法，它可实现摩擦力矩的动态自学习补偿，从而增强摩擦补偿的效果。数值仿真表明这种摩擦补偿方法不仅能有效地提高伺服系统的性能，而且便于工程应用。
The impact of friction on
the servo system is analyzed, and the disadvantages of typical compensating methods are
described firstly. Then, a friction compensation method, which is based on CMAC is put
forwarded. The CMAC possesses on line self learning ability, according to which, the
compensator could compensate the friction appeared by feedforward. This method not only
improves the performance of servo systems but also has the characteristics of easy
implementation. Finally, the advantages of this method are illustrated by a series of simulation.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1999年第3期269-272,共4页
China Mechanical Engineering
