NN-PID Adaptive Control for 6_PUS parallel mechanism

摘要：

　　6_PUS parallel mechanism is a new type manipulator which has two guide rails, along which six sliders connected with tie rods by hooke joints are driven by linear motor and then motion platform is driven by tie rods.In order to obtain precision loci of motion platform, linear motor should be controlled exactly.During the modeling of 6_PUS parallel mechanism, RBF NN is selected to approach the nonlinear of this manipulator, and neuron PID controller is used to regulate the controlled object.In this paper, regulating rules of the control system is introduced in detail, and the control efficiency is proved by experiments which show neuron adaptive PID controller can deal the nonlinear of 6_PUS parallel mechanism and get preferable control precision to ordinary PID controller.

关键词： Parallel Mechanism RBF Neural Network Neuron PID Adaptive PID Controller

作者: Tan Xingqiang Li Guoyun

作者单位: Mechanic Engineering College of Chongqing University,Shapingba District,Chongqing,China;Mechatronic Mechatronic Engineering of Panzhihua University,Panzhihua,Sichuan,China

会议类型: 国际会议

会议名称: the 2012 International Conference on Vibration, Structural Engineering and Measurement (2012年振动、结构工程与测量国际会议(ICVSEM2012))

会议地点: 上海

会议语种:英文

页码: 636-640

在线出版日期: 2012-10-19（万方平台首次上网日期，不代表论文的发表时间）