摘要
针对舰载特种起重机系统的吊重防摆控制问题,利用柔顺性的概念,提出了一种新的多变量神经网络PID控制算法,设计了舰载特种起重机神经网络PID力和位置混合控制器。控制起重机机械臂各关节平稳的跟踪给定轨迹,实现了起重机吊重在三维空间防摆的目的。控制系统仿真结果表明该算法是有效的。
For the problem on load anti-sway control of shipborne special crane, according to the concept of compliance, a new kind of multivariable neural network PID control algorithm is present, and a neural network PID position/force controller of the shipborne special crane is designed. The controller can drive the crane's joints to track the trajectory smoothly so that it can realize the anti-sway control of the load. The simulation result of the control system shows this algorithm is effective.
出处
《弹箭与制导学报》
CSCD
北大核心
2004年第S7期243-246,共4页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
舰载特种起重机
神经网络
防摆控制
柔顺控制
shipborne special crane
neural network
anti-sway control
compliance control
