被动加载系统中的多余力矩复合补偿方法

分析了被动式加载系统中多余力矩的特点 ,针对前馈补偿方法中存在的高阶微分补偿控制器物理上难以实现以及模型失配问题 ,提出了基于小脑模型关节控制器 (cerebellarmodelarticulationcontroller,CMAC)的复合补偿方法 .仿真和试验结果表明 ,采用基于CMAC的复合补偿方法对于多余力的抑制具有明显效果 .

Compound Compensator Based on Cerebellar Model Articulation Controller for Surplus Torque in Passive Electric Loading System

Because of the coupling of torque control and position control in a passive electric loading system,the movement of the object will bring torque control error that is called surplus torque and will deteriorate the dynamic performance of torque control if not compensated.Aiming at the characteristic of surplus torque,a compound compensation strategy based on cerebellar model articulation controller (CMAC) network has been put forward.Feed forward compensation is the effective method to restrain surplus torque.The keys are the selection of input signal to compensation controller and the modeling of system.Appropriate input signal will help to reduce the sensitivity of the compensation controller to noise and ensure the physical realization and compensation effect.CMAC neural network can study and approach the discrepancy between model and actual system,and ensure the sameness of compensation and actual disturbance channel.Simulation and test results have illustrated the compensation effect.