Control compensation methods for hydraulic servo joint with adaptive-network-based fuzzy inference system
液压伺服关节自适应模糊神经网络控制补偿方法

Tracking errors occur during the position tracking because the three degrees of freedom(d.o.f.) hydraulic servo joint is a nonlinear dynamic system with saturation,dead band and stroke coupling.In order to solve this problem,the dynamic model of the joint is established.A control compensation method with adaptive-network-based fuzzy inference system(ANFIS) is presented by comparing the advantages and disadvantages of several control methods in position tracing problem.The method enables to adjust the alterable gain coefficients by the sample data sets training and self-learning.The position tracking errors,caused by saturation,dead band and stroke coupling,are eliminated.Simultaneously the accurate position tracking is implemented by the method even if the control vectors are fluctuating in a large scale.Eventually,the simulation results show that the dynamic system is steady and the method is feasible.