一种自适应模糊小波神经网络及其在交流伺服控制中的应用

doi:10.3969/j.issn.1000-1093.2015.05.003

兵工学报 ›› 2015, Vol. 36 ›› Issue (5): 781-788.doi: 10.3969/j.issn.1000-1093.2015.05.003

一种自适应模糊小波神经网络及其在交流伺服控制中的应用

侯润民，刘荣忠，高强，王力，邓桐彬

（南京理工大学机械工程学院，江苏南京 210094）

收稿日期:2014-09-11 修回日期:2014-09-11 上线日期:2015-07-09
通讯作者: 侯润民 E-mail:riluo1102@hotmail.com
作者简介:侯润民（1987—），男，博士研究生
基金资助:
国家自然科学基金项目(51305205)

Application of Adaptive Fuzzy Wavelet Neural Network in AC Servo Control System

HOU Run-min， LIU Rong-zhong， GAO Qiang， WANG Li， DENG Tong-bin

（School of Mechanical Engineering，Nanjing University of Science and Technology，Nanjing 210094，Jiangsu，China）

Received:2014-09-11 Revised:2014-09-11 Online:2015-07-09
Contact: HOU Run-min E-mail:riluo1102@hotmail.com

摘要/Abstract

摘要： 针对某武器大功率交流伺服系统所存在的大变负载、慢时变、强耦合的非线性特性和不确定扰动等问题，提出了模糊小波神经网络（FWNN）间接自适应控制器，该控制器的特点为Takagi-Sugeno-Kang (TSK)模糊模型的后件部分由自回归小波神经网络（SRWNN）构成。给出了SRWNN参数的迭代算法，利用SRWNN辨识器为控制器提供实时梯度信息，有效地克服了参数变化和负载扰动等不确定因素的影响，且具有良好的动态特性。采用Lyapunov稳定性理论方法证明了闭环系统的稳定性。仿真研究和样机试验结果证明了所提方案的有效性和正确性。

关键词: 兵器科学与技术, 大功率交流伺服系统, 自回归小波神经网络, 模糊小波神经网络间接自适应控制器, 模糊小波神经网络

Abstract: A novel indirect stable adaptive fuzzy wavelet neural（FWNN）controller is proposed to control the nonlinearity, wide variation in loads, time-variation and uncertain disturbance of the high power AC servo system in a certain weapon. In the proposed approach, the self-recurrent wavelet neural network (SRWNN) is employed to construct an adaptive self-recurrent consequent part for each fuzzy rule of Takagi-Sugeno-Kang (TSK) fuzzy model. A back-propagation (BP) algorithm offers the real-time gradient information to the adaptive FWNN controller with the aid of an adaptive SRWNN identifier, which overcomes the effects of parameter variations，load disturbances and other uncertainties effectively. It has a good dynamic performance. The stability of the closed loop system is guaranteed by using the Lyapunov method. The simulation result and the prototype test prove that the proposed method is effective and suitable.

Key words: ordnance science and technology, high power AC servo system, self-recurrent wavelet neural network, indirect stable adaptive fuzzy wavelet neural controller, fuzzy wavelet neural network

中图分类号:

TP273

侯润民，刘荣忠，高强，王力，邓桐彬. 一种自适应模糊小波神经网络及其在交流伺服控制中的应用[J]. 兵工学报, 2015, 36(5): 781-788.

HOU Run-min， LIU Rong-zhong， GAO Qiang， WANG Li， DENG Tong-bin. Application of Adaptive Fuzzy Wavelet Neural Network in AC Servo Control System[J]. Acta Armamentarii, 2015, 36(5): 781-788.

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一种自适应模糊小波神经网络及其在交流伺服控制中的应用

Application of Adaptive Fuzzy Wavelet Neural Network in AC Servo Control System

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