太原科技大学学报
太原科技大學學報
태원과기대학학보
JOURNAL OF TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
2015年
2期
87-91,92
,共6页
王雨婷%陈志梅%邵雪卷
王雨婷%陳誌梅%邵雪捲
왕우정%진지매%소설권
塔式起重机%无源性%模糊神经网络%定位%防摆
塔式起重機%無源性%模糊神經網絡%定位%防襬
탑식기중궤%무원성%모호신경망락%정위%방파
tower crane%passivity%fuzzy neural network controller%position%anti swing
针对塔式起重机的防摆控制问题,提出了一种基于无源性的模糊神经网络控制方法。通过建立Lyapunov能量函数,分析了系统的无源特性,在此基础上采用模糊控制并依靠神经网络对隶属函数进行学习,不需要依赖系统精确的数学模型,实现了塔式起重机小车的定位和负载的防摆,提高了系统的鲁棒性。仿真结果表明该方法的有效性和可行性。
針對塔式起重機的防襬控製問題,提齣瞭一種基于無源性的模糊神經網絡控製方法。通過建立Lyapunov能量函數,分析瞭繫統的無源特性,在此基礎上採用模糊控製併依靠神經網絡對隸屬函數進行學習,不需要依賴繫統精確的數學模型,實現瞭塔式起重機小車的定位和負載的防襬,提高瞭繫統的魯棒性。倣真結果錶明該方法的有效性和可行性。
침대탑식기중궤적방파공제문제,제출료일충기우무원성적모호신경망락공제방법。통과건립Lyapunov능량함수,분석료계통적무원특성,재차기출상채용모호공제병의고신경망락대대속함수진행학습,불수요의뢰계통정학적수학모형,실현료탑식기중궤소차적정위화부재적방파,제고료계통적로봉성。방진결과표명해방법적유효성화가행성。
Aiming at anti swing of tower crane,a control method of fuzzy neural network based on passivity is pro-posed. The passivity of system is analyzed by establishing the Lyapunov energy function,and the membership func-tion can be learned to rely on neural network by using fuzzy control on this basis. The accurate mathematical model of system was no more needed. In this method the position and anti swing of tower crane can be related. The robust-ness of system also be improved. The simulation results proved the feasibility and effectiveness of the method.