超声电机驱动的机器人的模糊神经网络控制.doc

2 8 2 Vol . 28 No . 22 0 0 6 4 P IEZO EL EC T EC T R ICS & A COU S TOO P T ICSAp r . 2006:1004 2474 (2006) 02 0143 041 ,2 ,1( 1 . ,210016 ;2 . ,330034):,: ;: TM356 : AFuzzy neuron Net work Control Techn iques Appl ied toa Robot Driven Directly by Ultra son ic MotorsHE Hong l in1 , 2 , ZHAO Chun sheng1( 1 . Re sea rch Cent er of Ult ra so nic Mo to r s , Na nji ng U niver sit y of Aero na utics a nd A st ro na utics , Nanji ng 210016 ,Chi na ;2 . Mecha nical Dep a rt ment , Na ncha ng In stit ut e of Aero na utics and Technolo gy , Nancha n 330034 ,Chi na)Abstract : The cha racteri stics of t he U SM such a s light weight , f a st respo nse speed and high to rque/ ma ss ratio ma ke it a n ideal act uato r fo r t he direct drive ro bo t . Ba sed o n t he servo cha racteri stics of t he U SM a nd t he dyna mic sof t he manip ulato r , a hybrid co nt rol system co mpo sed of a f uzzy co nt roller w hich ma ke s o verall system st able alo nga t rajecto r y a nd a neuro n net wo r k co nt roller w hich aims to reduce t he stable er ro r fo r a pla nar ro bo t driven by U SMi s p ropo sed. The st r uct ure of t he hybrid co nt rller a nd t he design of t he t wo sub co nt roller s have been st udied. In o r der to validate t he eff ect of t he co nt rol met ho d , a si mulatio n of t he co nt rol system ha s been made . The re sult sho w st hat a high po sitio n p reci se will be o btained wit h such a hybrid co nt roller .Key words : ult ra so nic mo to r ; direct drive ro bo t ;f uzzy lo gical co nt roller ; neuro n net wo r k co nt roller, 1 ,( U SM ) ; A . Kato SCA RA 2 ;,1 ,22 2,(310 ) ,20 90 1 . 1 USM ,:2004 08 02:( 50235010):( 1967 ) ,1442006 3 ,nrato r = - h k0 /r( 1);0 2 , n ,; h ; k ; r ; d L L i i = 1 , 2 , , n( 2), , k h d t qi -qi =( 1) , , U1 2 ,;,0 ,; ,0M ( q) q + V ( q , q) q + G( q) + Fr ( q) +d =( 3)q Rn ; M( q) Rn n ; V ( q ,q) q Rn ; G( q) Rn , Fr q R n , d Rn ,R n ( ) SCA RA ,(3) M11M121+M21M212- V 122- V 12 (1 +2 ) V 121011=( 4)22M11 = ( m1 + m2 ) l2 + m2 l2 + 2 m2 l1 l2 co s 2 ,2121 U SM 2 U SM 1 . 2 USM ,2( b) ,- 90+ 90,M12 = M21 = m2 l2 + m2 l1 l2 co s 2 , V 12 = m2 l1 l2 si n 2 ,2V 22 = m2 l2 , m1 m2 , l1 l2(4) ,3 ,3 ,( FL C) 2 :145 1( A N N) ,A 1 = N L = x/ A( x) = 1 . 0/ - 6 +,0 . 8/ - 5 + 0 . 4/ - 4 + 0 . 1/ - 3 ;2;A 2 = N M = x/ A( x) = 0 . 2/ - 6 + 0 . 7/ - 5 +,1 . 0/ - 4 + 0 . 7/ - 3 + 0 . 2/ - 2 ;,;7e A 7 = P M = x/ A( x) = 0 . 2/ 2 + 0 . 7/ 3 +e0 ec 1 . 0/ 4 + 0 . 7/ 5 + 0 . 2/ 6 ;ec0 ( ) , A 8 = PL = x/ A( x) = 0 . 1/ 3 + 0 . 4/ 4 +f l a g =1 e ( k) | e0 | ec ( k) | ec0 |0 ( 5)0 . 8/ 5 + 1/ 6 ;, Y Z f l a g , 1 , , 0 , ; e ( k) k, T , e ( k) =d ( k T) - ( k T) , ec ( k) = e ( k T) -e ( k - 1) T / T( 6)3 4 3 5 4 FL C ,e ec , 4 . 2 ,81 if E = N B a nd D E = N B t he nP H A I = N L ;2 if E = N M a nd D E = N M t he nP H A I = N L ;56 if E = PL a nd D E = PL t he nP H A I = PS ;, X Y Z R , :24R1 = ( A i C1 ) ( B j C1 )( 7)i = 12j = 1R2 = ( A i C2 ) ( B 5 C2 )( 8)i = 14 4 . 1 87FL C , R17 = ( A i C5 ) ( B j C5 )( 9)i= 6j = 4,e ec E E C ,A i ( i = 1 , 2 , , 8) B j ( j = 1 , llRl = RA B B ( l = 1 , 2 , , 17)( 10)e e c , 2 , , 6) , X ( - 22) ra d Y( 0120) r/ mi n 13 ( - 6 , - 5 ,17= e o RAl = 1lBe c o Rl( 11), 0 , , 5 , 6) A i N L , N M ,N S , N O , PO , PS , P M , PL , B j N L , N M , N S , ZO , P S , P M , PL ; , P H A I , Ck , Ck B j , Z ( - / 2/ 2) 4 . 3 U SM , , , , 15 X 1515= i u P HA I (i ) / uP HA I (i )( 12)i = 1i = 11462006 uP HA I (i ) FL C ,FL C / 5 ,FL C ,5 5 4 5 . 1 A N N ,Hec ht Niel so n ,A N N 3 B P ,2 12 2 B P p = e1 , e2 T ,t = / ,/ T ,: w1 , b1 , w2 , b2 ,epoch s , tr = t rai nbp ( w1 , b1 ,t a n si g,w2 , b2 ,p ureli n, p , t , t p ) ;6 , A N N , A N N,A N N : epoch _ma x = 8 000 , lr = 0 . 01 , S S E = 0 . 02 6 , , e1 e2 1 2 ( ) ,p ha1 p ha2 1 2 ,(+ ) , A N N ,A N N 6 A N N 125 . 2 7 A N N , A N N ,( p , t) ,t ( k) = f p ( k) A N N, A N N 5 . 3 ,w1 w2 b1 b2 , ,MA TL AB ,i nitff () ,: w1 , b1 , w2 , b2 = i nitff ( p , 12 , t a n si g, t , t a n si g) ;,: 1 ,. J . ,2000 (4) :5 8 . 2 , () ,. M . :,1997 . 3 BAL G G , B E KIRO GL U E , D EM IRBA S S. Fuzzy lo gic ba se