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提高电动加载系统输出平滑的CMAC复合控制

, PP. 723-727

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Abstract:

CMAC(CerebellarModelArticulationController)和PD(ProportionalDerivative)复合控制算法有时因输出不平滑会引起加载电机抖动而影响控制效果.通过对该输出不平滑问题进行分析,提出了一种新的提高输出平滑性的改进CMAC复合控制算法,该方法通过新的权值更新公式,在权值更新时直接达到减小误差和提高输出平滑性的目的.仿真和实验结果表明改进后的算法能够有效提高输出平滑性,降低了21%的稳态误差,且保证在加载时有良好的稳定性和抗干扰能力.

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