The length of fexible manipulators with a telescopic arm alters during movement.The dynamic parameters of telescopic fexible manipulators exhibit signifcant time-varying characteristics owing to variations in length.W...The length of fexible manipulators with a telescopic arm alters during movement.The dynamic parameters of telescopic fexible manipulators exhibit signifcant time-varying characteristics owing to variations in length.With an increase in the manipulators’length,the nonlinear terms caused by fexibility in the manipulators’dynamic equations cannot be ignored.The time-varying characteristics and nonlinear terms of telescopic fexible manipulators cause fuctuations in rotation angles,which afect the operation accuracy of end-efectors.In this study,a control strategy based on a combination of fuzzy adjustment and an RBF neural network is utilized to improve the control accuracy of fexible telescopic manipulators.First,the dynamic equation of the manipulators is established using the assumed mode method and Lagrange’s principle,and the infuence of nonlinear terms is analyzed.Subsequently,a combined control strategy is proposed to suppress the fuctuation of the rotation angle in telescopic fexible manipulators.The variation ranges of the feedforward PD controller parameters are determined by the pole placement strategy and length of the manipulators.Fuzzy rules are utilized to adjust the controller parameters in real-time.The RBF neural network is utilized to identify and compensate the uncertain part of the dynamic model of the fexible manipulators.The uncertain part comprises time-varying parameters and nonlinear terms.Finally,numerical simulations and prototype experiments prove the efectiveness of the combined control strategy.The results prove that the proposed control strategy has a smaller standard deviation of errors.Therefore,the combined control strategy is more suitable for telescopic fexible manipulators,which can efectively improve the control accuracy of rotation angles.展开更多
Considering the fact that free calcium oxide content is an important parameter to evaluate the quality of cement clinker, it is very significant to predict the change of free calcium oxide content through adjusting th...Considering the fact that free calcium oxide content is an important parameter to evaluate the quality of cement clinker, it is very significant to predict the change of free calcium oxide content through adjusting the parameters of processing technique. In fact, the making process of cement clinker is very complex. Therefore, it is very difficult to describe this relationship using the conventional mathematical methods. Using several models, i e, linear regression model, nonlinear regression model, Back Propagation neural network model, and Radial Basis Function (RBF) neural network model, we investigated the possibility to predict the free calcium oxide content according to selected parameters of the production process. The results indicate that RBF neural network model can predict the free lime content with the highest precision (1.3%) among all the models.展开更多
In this paper, an adaptive neural network control scheme for robot manipulators with actuator nonlinearities is presented. The control scheme consists of an adaptive neural network controller and an actuator nonlinear...In this paper, an adaptive neural network control scheme for robot manipulators with actuator nonlinearities is presented. The control scheme consists of an adaptive neural network controller and an actuator nonlinearities compensator. Since the actuator nonlinearities are usually included in the robot driving motor, a compensator using radial basis function (RBF) network is proposed to estimate the actuator nonlinearities and eliminate their effects. Subsequently, an adaptive neural network controller that neither requires the evaluation of inverse dynamical model nor the time-consuming training process is given. In addition, GL matrix and its product operator are introduced to help prove the stability of the closed control system. Considering the adaptive neural network controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded (UUB). The whole scheme provides a general procedure to control the robot manipulators with actuator nonlinearities. Simulation results verify the effectiveness of the designed scheme and the theoretical discussion.展开更多
A global approximation based adaptive radial basis function(RBF) neural network control strategy is proposed for the trajectory tracking control of supercavitating vehicles(SV).A nominal model is built firstly with th...A global approximation based adaptive radial basis function(RBF) neural network control strategy is proposed for the trajectory tracking control of supercavitating vehicles(SV).A nominal model is built firstly with the unknown disturbance.Next, the control scheme is established consisting of a computed torque controller(CTC) for the practical vehicle and an RBF neural network controller to estimate model error between the practical vehicle and the nominal model. The network weights are adapted by employing a Lyapunov-based design. Then it is shown by the Lyapunov theory that the trajectory tracking errors asymptotically converge to a small neighborhood of zero. The control performance of the proposed controller is illustrated by simulation.展开更多
Target maneuver trajectory prediction plays an important role in air combat situation awareness and threat assessment.To solve the problem of low prediction accuracy of the traditional prediction method and model,a ta...Target maneuver trajectory prediction plays an important role in air combat situation awareness and threat assessment.To solve the problem of low prediction accuracy of the traditional prediction method and model,a target maneuver trajectory prediction model based on phase space reconstruction-radial basis function(PSR-RBF)neural network is established by combining the characteristics of trajectory with time continuity.In order to further improve the prediction performance of the model,the rival penalized competitive learning(RPCL)algorithm is introduced to determine the structure of RBF,the Levenberg-Marquardt(LM)and the hybrid algorithm of the improved particle swarm optimization(IPSO)algorithm and the k-means are introduced to optimize the parameter of RBF,and a PSR-RBF neural network is constructed.An independent method of 3D coordinates of the target maneuver trajectory is proposed,and the target manuver trajectory sample data is constructed by using the training data selected in the air combat maneuver instrument(ACMI),and the maneuver trajectory prediction model based on the PSR-RBF neural network is established.In order to verify the precision and real-time performance of the trajectory prediction model,the simulation experiment of target maneuver trajectory is performed.The results show that the prediction performance of the independent method is better,and the accuracy of the PSR-RBF prediction model proposed is better.The prediction confirms the effectiveness and applicability of the proposed method and model.展开更多
Great efforts have been made to resolve the serious environmental pollution and inevitable declining of energy resources. A review of Chinese fuel reserves and engine technology showed that compressed natural gas (CNG...Great efforts have been made to resolve the serious environmental pollution and inevitable declining of energy resources. A review of Chinese fuel reserves and engine technology showed that compressed natural gas (CNG)/diesel dual fuel engine (DFE) was one of the best solutions for the above problems at present. In order to study and improve the emission performance of CNG/diesel DFE, an emission model for DFE based on radial basis function (RBF) neural network was developed which was a black-box input-output training data model not require priori knowledge. The RBF centers and the connected weights could be selected automatically according to the distribution of the training data in input-output space and the given approximating error. Studies showed that the predicted results accorded well with the experimental data over a large range of operating conditions from low load to high load. The developed emissions model based on the RBF neural network could be used to successfully predict and optimize the emissions performance of DFE. And the effect of the DFE main performance parameters, such as rotation speed, load, pilot quantity and injection timing, were also predicted by means of this model. In resum6, an emission prediction model for CNG/diesel DFE based on RBF neural network was built for analyzing the effect of the main performance parameters on the CO, NOx emissions of DFE. The predicted results agreed quite well with the traditional emissions model, which indicated that the model had certain application value, although it still has some limitations, because of its high dependence on the quantity of the experimental sample data.展开更多
Phase space reconstruction is the first step of recognizing the chaotic time series.On the basis of differential entropy ratio method,the embedding dimension opt m and time delay t are optimal for the state space reco...Phase space reconstruction is the first step of recognizing the chaotic time series.On the basis of differential entropy ratio method,the embedding dimension opt m and time delay t are optimal for the state space reconstruction could be determined.But they are not the optimal parameters accepted for prediction.This study proposes an improved method based on the differential entropy ratio and Radial Basis Function(RBF)neural network to estimate the embedding dimension m and the time delay t,which have both optimal characteristics of the state space reconstruction and the prediction.Simulating experiments of Lorenz system and Doffing system show that the original phase space could be reconstructed from the time series effectively,and both the prediction accuracy and prediction length are improved greatly.展开更多
It is necessary to develop an automatic fault diagnosis system to avoid a possible nuclear disaster caused by an inaccurate fault diagnosis in the nuclear power plant by the operator. Because Radial Basis Function Neu...It is necessary to develop an automatic fault diagnosis system to avoid a possible nuclear disaster caused by an inaccurate fault diagnosis in the nuclear power plant by the operator. Because Radial Basis Function Neural Network (RBFNN) has the characteristics of optimal approximation and global approximation. The mixed coding of binary system and decimal system is introduced to the structure and parameters of RBFNN, which is trained in course of the genetic optimization. Finally, a fault diagnosis system according to the frequent faults in condensation and feed water system of nuclear power plant is set up. As a result, Genetic-RBF Neural Network (GRBFNN) makes the neural network smaller in size and higher in generalization ability. The diagnosis speed and accuracy are also improved.展开更多
Traditional PCA is a linear method, but most engineering problems are nonlinear. Using the linear PCA in nonlinear problems may bring distorted and misleading results. Therefore, an approach of nonlinear principal com...Traditional PCA is a linear method, but most engineering problems are nonlinear. Using the linear PCA in nonlinear problems may bring distorted and misleading results. Therefore, an approach of nonlinear principal component analysis (NLPCA) using radial basis function (RBF) neural network is developed in this paper. The orthogonal least squares (OLS) algorithm is used to train the RBF neural network. This method improves the training speed and prevents it from being trapped in local optimization. Results of two experiments show that this NLPCA method can effectively capture nonlinear correlation of nonlinear complex data, and improve the precision of the classification and the prediction.展开更多
This study concerns with fault diagnosis of urban rail vehicle auxiliary inverter using wavelet packet and RBF neural network. Four statistical features are selected: standard voltage signal, voltage fluctuation signa...This study concerns with fault diagnosis of urban rail vehicle auxiliary inverter using wavelet packet and RBF neural network. Four statistical features are selected: standard voltage signal, voltage fluctuation signal, impulsive transient signal and frequency variation signal. In this article, the original signals are decomposed into different frequency subbands by wavelet packet. Next, an automatic feature extraction algorithm is constructed. Finally, those wavelet packet energy eigenvectors are taken as fault samples to train RBF neural network. The result shows that the RBF neural network is effective in the detection and diagnosis of various urban rail vehicle auxiliary inverter faults.展开更多
In view of intrinsic imperfection of traditional models of rolling force, in ord er to improve the prediction accuracy of rolling force, a new method combining radial basis function(RBF) neural networks with tradition...In view of intrinsic imperfection of traditional models of rolling force, in ord er to improve the prediction accuracy of rolling force, a new method combining radial basis function(RBF) neural networks with traditional models to predict rolling f orce was proposed. The off-line simulation indicates that the predicted results are much more accurate than that with traditional models.展开更多
To improve the computational speed,the ROLS-AWS algorithm was employed in the RBF based MUD receiver.The radial basis function was introduced into the multi-user detection(MUD)firstly.Then a three-layer neural network...To improve the computational speed,the ROLS-AWS algorithm was employed in the RBF based MUD receiver.The radial basis function was introduced into the multi-user detection(MUD)firstly.Then a three-layer neural network demodulation spread-spectrum signal model in the synchronous Gauss channel was given and the multi-user detection receiver was analyzed intensively.Simulations by computer illustrate that the proposed RBF based MUD receiver employing the ROLS-AWS algorithm is better than conventional detectors and common BP neural network based MUD receivers on suppressing multiple access interference and near-far resistance.展开更多
Multi-deployment of dispersed power sources became an important need with the rapid increase of the Distributed generation (DG) technology and smart grid applications. This paper proposes a computational tool to asses...Multi-deployment of dispersed power sources became an important need with the rapid increase of the Distributed generation (DG) technology and smart grid applications. This paper proposes a computational tool to assess the optimal DG size and deployment for more than one unit, taking the minimum losses and voltage profile as objective functions. A technique called radial basis function (RBF) neural network has been utilized for such target. The method is only depending on the training process;so it is simple in terms of algorithm and structure and it has fast computational speed and high accuracy;therefore it is flexible and reliable to be tested in different target scenarios. The proposed method is designed to find the best solution of multi- DG sizing and deployment in 33-bus IEEE distribution system and create the suitable topology of the system in the presence of DG. Some important results for DG deployment and discussion are involved to show the effectiveness of our proposed method.展开更多
In space operation,flexible manipulators and gripper mechanisms have been widely used because of light weight and flexibility.However,the vibration caused by slender structures in manipulators and the parameter pertur...In space operation,flexible manipulators and gripper mechanisms have been widely used because of light weight and flexibility.However,the vibration caused by slender structures in manipulators and the parameter perturbation caused by the uncertainty derived from grasping mass variation cannot be ignored.The existence of vibration and parameter perturbation makes the rotation control of flexible manipulators difficult,which seriously affects the operation accuracy of manipulators.What’s more,the complex dynamic coupling brings great challenges to the dynamics modeling and vibration analysis.To solve this problem,this paper takes the space flexible manipulator with an underactuated hand(SFMUH)as the research object.The dynamics model considering flexibility,multiple nonlinear elements and disturbance torque is established by the assumed modal method(AMM)and Hamilton’s principle.A dynamic modeling simplification method is proposed by analyzing the nonlinear terms.What’s more,a sliding mode control(SMC)method combined with the radial basis function(RBF)neural network compensation is proposed.Besides,the control law is designed using a saturation function in the control method to weaken the chatter phenomenon.With the help of neural networks to identify the uncertainty composition in the SFMUH,the tracking accuracy is improved.The results of ground control experiments verify the advantages of the control method for vibration suppression of the SFMUH.展开更多
Over the years,practical importance and interesting dynamical features have caused a growing interest in dry friction systems.Nevertheless,an effective approach to capture the non-smooth transition behavior of such sy...Over the years,practical importance and interesting dynamical features have caused a growing interest in dry friction systems.Nevertheless,an effective approach to capture the non-smooth transition behavior of such systems is still lacking.Accordingly,we propose a piecewise radial basis function neural network(RBFNN)strategy to solve the transient response of the randomly excited dry friction system.Within the established framework,the transient probability density function of the dry friction system is expressed in a piecewise form.Each segment of the solution is expressed by the sum of a series of Gaussian activation functions with time-dependent weights.These time dependent weights are solved by minimizing the loss function,which involves the residual of the Fokker-Planck-Kolmogorov equations and constraint conditions.To avoid the singularity of the initial condition being a Dirac delta function,a short-time Gaussian approximation strategy is presented to solve the initiating time-dependent weights.Based on some numerical results,the proposed scheme effectively performs.Moreover,a comparison with other existing methods reveals that the proposed scheme can completely capture the nonlinear characteristic of the dry friction system stochastic response more closely.Noteworthy,we can easily extend the proposed method to other types of non-smooth systems with piecewise response characteristics.Moreover,the semi-analytical solution provides a valuable reference for system optimization.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51875092)National Key Research and Development Project of China(Grant No.2020YFB2007802)+1 种基金Natural Science Foundation of Ningxia Province(Grant No.2020AAC03279)Fundamental Research Funds for the Central Universities(Grant No.N2103025).
文摘The length of fexible manipulators with a telescopic arm alters during movement.The dynamic parameters of telescopic fexible manipulators exhibit signifcant time-varying characteristics owing to variations in length.With an increase in the manipulators’length,the nonlinear terms caused by fexibility in the manipulators’dynamic equations cannot be ignored.The time-varying characteristics and nonlinear terms of telescopic fexible manipulators cause fuctuations in rotation angles,which afect the operation accuracy of end-efectors.In this study,a control strategy based on a combination of fuzzy adjustment and an RBF neural network is utilized to improve the control accuracy of fexible telescopic manipulators.First,the dynamic equation of the manipulators is established using the assumed mode method and Lagrange’s principle,and the infuence of nonlinear terms is analyzed.Subsequently,a combined control strategy is proposed to suppress the fuctuation of the rotation angle in telescopic fexible manipulators.The variation ranges of the feedforward PD controller parameters are determined by the pole placement strategy and length of the manipulators.Fuzzy rules are utilized to adjust the controller parameters in real-time.The RBF neural network is utilized to identify and compensate the uncertain part of the dynamic model of the fexible manipulators.The uncertain part comprises time-varying parameters and nonlinear terms.Finally,numerical simulations and prototype experiments prove the efectiveness of the combined control strategy.The results prove that the proposed control strategy has a smaller standard deviation of errors.Therefore,the combined control strategy is more suitable for telescopic fexible manipulators,which can efectively improve the control accuracy of rotation angles.
基金NSFC (No. 60808024)the Fundamental Research Funds for the Central Universities (Wuhan University of Technology)
文摘Considering the fact that free calcium oxide content is an important parameter to evaluate the quality of cement clinker, it is very significant to predict the change of free calcium oxide content through adjusting the parameters of processing technique. In fact, the making process of cement clinker is very complex. Therefore, it is very difficult to describe this relationship using the conventional mathematical methods. Using several models, i e, linear regression model, nonlinear regression model, Back Propagation neural network model, and Radial Basis Function (RBF) neural network model, we investigated the possibility to predict the free calcium oxide content according to selected parameters of the production process. The results indicate that RBF neural network model can predict the free lime content with the highest precision (1.3%) among all the models.
文摘In this paper, an adaptive neural network control scheme for robot manipulators with actuator nonlinearities is presented. The control scheme consists of an adaptive neural network controller and an actuator nonlinearities compensator. Since the actuator nonlinearities are usually included in the robot driving motor, a compensator using radial basis function (RBF) network is proposed to estimate the actuator nonlinearities and eliminate their effects. Subsequently, an adaptive neural network controller that neither requires the evaluation of inverse dynamical model nor the time-consuming training process is given. In addition, GL matrix and its product operator are introduced to help prove the stability of the closed control system. Considering the adaptive neural network controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded (UUB). The whole scheme provides a general procedure to control the robot manipulators with actuator nonlinearities. Simulation results verify the effectiveness of the designed scheme and the theoretical discussion.
基金supported by the National Natural Science Foundation of China(5167920161473233)
文摘A global approximation based adaptive radial basis function(RBF) neural network control strategy is proposed for the trajectory tracking control of supercavitating vehicles(SV).A nominal model is built firstly with the unknown disturbance.Next, the control scheme is established consisting of a computed torque controller(CTC) for the practical vehicle and an RBF neural network controller to estimate model error between the practical vehicle and the nominal model. The network weights are adapted by employing a Lyapunov-based design. Then it is shown by the Lyapunov theory that the trajectory tracking errors asymptotically converge to a small neighborhood of zero. The control performance of the proposed controller is illustrated by simulation.
文摘Target maneuver trajectory prediction plays an important role in air combat situation awareness and threat assessment.To solve the problem of low prediction accuracy of the traditional prediction method and model,a target maneuver trajectory prediction model based on phase space reconstruction-radial basis function(PSR-RBF)neural network is established by combining the characteristics of trajectory with time continuity.In order to further improve the prediction performance of the model,the rival penalized competitive learning(RPCL)algorithm is introduced to determine the structure of RBF,the Levenberg-Marquardt(LM)and the hybrid algorithm of the improved particle swarm optimization(IPSO)algorithm and the k-means are introduced to optimize the parameter of RBF,and a PSR-RBF neural network is constructed.An independent method of 3D coordinates of the target maneuver trajectory is proposed,and the target manuver trajectory sample data is constructed by using the training data selected in the air combat maneuver instrument(ACMI),and the maneuver trajectory prediction model based on the PSR-RBF neural network is established.In order to verify the precision and real-time performance of the trajectory prediction model,the simulation experiment of target maneuver trajectory is performed.The results show that the prediction performance of the independent method is better,and the accuracy of the PSR-RBF prediction model proposed is better.The prediction confirms the effectiveness and applicability of the proposed method and model.
文摘Great efforts have been made to resolve the serious environmental pollution and inevitable declining of energy resources. A review of Chinese fuel reserves and engine technology showed that compressed natural gas (CNG)/diesel dual fuel engine (DFE) was one of the best solutions for the above problems at present. In order to study and improve the emission performance of CNG/diesel DFE, an emission model for DFE based on radial basis function (RBF) neural network was developed which was a black-box input-output training data model not require priori knowledge. The RBF centers and the connected weights could be selected automatically according to the distribution of the training data in input-output space and the given approximating error. Studies showed that the predicted results accorded well with the experimental data over a large range of operating conditions from low load to high load. The developed emissions model based on the RBF neural network could be used to successfully predict and optimize the emissions performance of DFE. And the effect of the DFE main performance parameters, such as rotation speed, load, pilot quantity and injection timing, were also predicted by means of this model. In resum6, an emission prediction model for CNG/diesel DFE based on RBF neural network was built for analyzing the effect of the main performance parameters on the CO, NOx emissions of DFE. The predicted results agreed quite well with the traditional emissions model, which indicated that the model had certain application value, although it still has some limitations, because of its high dependence on the quantity of the experimental sample data.
基金Supported by the Key Program of National Natural Science Foundation of China(Nos.61077071,51075349)Program of National Natural Science Foundation of Hebei Province(Nos.F2011203207,F2010001312)
文摘Phase space reconstruction is the first step of recognizing the chaotic time series.On the basis of differential entropy ratio method,the embedding dimension opt m and time delay t are optimal for the state space reconstruction could be determined.But they are not the optimal parameters accepted for prediction.This study proposes an improved method based on the differential entropy ratio and Radial Basis Function(RBF)neural network to estimate the embedding dimension m and the time delay t,which have both optimal characteristics of the state space reconstruction and the prediction.Simulating experiments of Lorenz system and Doffing system show that the original phase space could be reconstructed from the time series effectively,and both the prediction accuracy and prediction length are improved greatly.
文摘It is necessary to develop an automatic fault diagnosis system to avoid a possible nuclear disaster caused by an inaccurate fault diagnosis in the nuclear power plant by the operator. Because Radial Basis Function Neural Network (RBFNN) has the characteristics of optimal approximation and global approximation. The mixed coding of binary system and decimal system is introduced to the structure and parameters of RBFNN, which is trained in course of the genetic optimization. Finally, a fault diagnosis system according to the frequent faults in condensation and feed water system of nuclear power plant is set up. As a result, Genetic-RBF Neural Network (GRBFNN) makes the neural network smaller in size and higher in generalization ability. The diagnosis speed and accuracy are also improved.
文摘Traditional PCA is a linear method, but most engineering problems are nonlinear. Using the linear PCA in nonlinear problems may bring distorted and misleading results. Therefore, an approach of nonlinear principal component analysis (NLPCA) using radial basis function (RBF) neural network is developed in this paper. The orthogonal least squares (OLS) algorithm is used to train the RBF neural network. This method improves the training speed and prevents it from being trapped in local optimization. Results of two experiments show that this NLPCA method can effectively capture nonlinear correlation of nonlinear complex data, and improve the precision of the classification and the prediction.
文摘This study concerns with fault diagnosis of urban rail vehicle auxiliary inverter using wavelet packet and RBF neural network. Four statistical features are selected: standard voltage signal, voltage fluctuation signal, impulsive transient signal and frequency variation signal. In this article, the original signals are decomposed into different frequency subbands by wavelet packet. Next, an automatic feature extraction algorithm is constructed. Finally, those wavelet packet energy eigenvectors are taken as fault samples to train RBF neural network. The result shows that the RBF neural network is effective in the detection and diagnosis of various urban rail vehicle auxiliary inverter faults.
基金National Natural Science Foundation ofChina(No.60374011)
文摘In view of intrinsic imperfection of traditional models of rolling force, in ord er to improve the prediction accuracy of rolling force, a new method combining radial basis function(RBF) neural networks with traditional models to predict rolling f orce was proposed. The off-line simulation indicates that the predicted results are much more accurate than that with traditional models.
文摘To improve the computational speed,the ROLS-AWS algorithm was employed in the RBF based MUD receiver.The radial basis function was introduced into the multi-user detection(MUD)firstly.Then a three-layer neural network demodulation spread-spectrum signal model in the synchronous Gauss channel was given and the multi-user detection receiver was analyzed intensively.Simulations by computer illustrate that the proposed RBF based MUD receiver employing the ROLS-AWS algorithm is better than conventional detectors and common BP neural network based MUD receivers on suppressing multiple access interference and near-far resistance.
文摘Multi-deployment of dispersed power sources became an important need with the rapid increase of the Distributed generation (DG) technology and smart grid applications. This paper proposes a computational tool to assess the optimal DG size and deployment for more than one unit, taking the minimum losses and voltage profile as objective functions. A technique called radial basis function (RBF) neural network has been utilized for such target. The method is only depending on the training process;so it is simple in terms of algorithm and structure and it has fast computational speed and high accuracy;therefore it is flexible and reliable to be tested in different target scenarios. The proposed method is designed to find the best solution of multi- DG sizing and deployment in 33-bus IEEE distribution system and create the suitable topology of the system in the presence of DG. Some important results for DG deployment and discussion are involved to show the effectiveness of our proposed method.
基金supported by the National Natural Science Foundation of China(No.52275090)the Fundamental Research Funds for the Central Universities(No.N2103025)+1 种基金the National Key Research and Development Program of China(No.2020YFB2007802)the Applied Basic Research Program of Liaoning Province(No.2023JH2/101300159)。
文摘In space operation,flexible manipulators and gripper mechanisms have been widely used because of light weight and flexibility.However,the vibration caused by slender structures in manipulators and the parameter perturbation caused by the uncertainty derived from grasping mass variation cannot be ignored.The existence of vibration and parameter perturbation makes the rotation control of flexible manipulators difficult,which seriously affects the operation accuracy of manipulators.What’s more,the complex dynamic coupling brings great challenges to the dynamics modeling and vibration analysis.To solve this problem,this paper takes the space flexible manipulator with an underactuated hand(SFMUH)as the research object.The dynamics model considering flexibility,multiple nonlinear elements and disturbance torque is established by the assumed modal method(AMM)and Hamilton’s principle.A dynamic modeling simplification method is proposed by analyzing the nonlinear terms.What’s more,a sliding mode control(SMC)method combined with the radial basis function(RBF)neural network compensation is proposed.Besides,the control law is designed using a saturation function in the control method to weaken the chatter phenomenon.With the help of neural networks to identify the uncertainty composition in the SFMUH,the tracking accuracy is improved.The results of ground control experiments verify the advantages of the control method for vibration suppression of the SFMUH.
基金supported by the National Natural Science Foundation of China(Grant No.12072118)the Natural Science Funds for Distinguished Young Scholar of the Fujian Province of China(Grant No.2021J06024)the Project for Youth Innovation Fund of Xiamen(Grant No.3502Z20206005)。
文摘Over the years,practical importance and interesting dynamical features have caused a growing interest in dry friction systems.Nevertheless,an effective approach to capture the non-smooth transition behavior of such systems is still lacking.Accordingly,we propose a piecewise radial basis function neural network(RBFNN)strategy to solve the transient response of the randomly excited dry friction system.Within the established framework,the transient probability density function of the dry friction system is expressed in a piecewise form.Each segment of the solution is expressed by the sum of a series of Gaussian activation functions with time-dependent weights.These time dependent weights are solved by minimizing the loss function,which involves the residual of the Fokker-Planck-Kolmogorov equations and constraint conditions.To avoid the singularity of the initial condition being a Dirac delta function,a short-time Gaussian approximation strategy is presented to solve the initiating time-dependent weights.Based on some numerical results,the proposed scheme effectively performs.Moreover,a comparison with other existing methods reveals that the proposed scheme can completely capture the nonlinear characteristic of the dry friction system stochastic response more closely.Noteworthy,we can easily extend the proposed method to other types of non-smooth systems with piecewise response characteristics.Moreover,the semi-analytical solution provides a valuable reference for system optimization.
