Alternate coupling gets used to nerve oneself yuan controller application machines medium research at parabola contrail

The Controller Neednt Model The System, it Has The Simple Structures And The Adaptive Ability.

The Experiment Results Prove The Effectivness Of The Controller.

Keywords: The PID method of tradition of foreword of Parabola1 of 　 of Cross-coupled Control of Adaptive Nenron 　 because the structure is simple, adjust convenient, because this is current,still be applied widely. But complex to a few processes and the system that changes when parameter is slow, the parameter of PID is shown cannot real time is online adjust, difference of rash club sex, parameter is whole calm complex wait for a lot of inadequacy. And because nerve network has self-study be used to, suit oneself, associate the ability such as memory, collateral processing, make its latter year of research in dominating a field and application get very great progress. Odd nerve yuan it is the mainest unit in nerve network, its structure is simple, use as easily real time control, have good control performance, had applied at the control domain of servo, and in the control of servo of odd axis position the respect obtained certain positive result [1] [2] , but the respect is commanded in the outline of servo of much axis position, as a result of trends of each shafting all character does not match and cause bigger outline error, odd each gets used to nerve yuan controller parts the control effect of action is very not ideal. To the outline control of much shafting all, document [3] [4] [5] studied alternate coupling controls a method, this method regards whole as the consideration much shafting all, the outline error that makes each system arises in athletic process affects the control action of every servo structure, through adjusting an influence power worth reduces total outline error, reducing much axis is all trends is characteristic do not match. This kind of method can obtain certain result, but its adjust authority to be worth is to cannot undertake commonly online adjust, rash club sex is poorer, and the operation of controller is more complex, especially to complex contrail, inconvenience is controlled at having real time, this is the insufficient place of method of alternate coupling control. Article basis document [6] union gets used to nerve oneself yuan the advantage with alternate coupling controller, introduce the 2 function index of outline error, to parabola contrail, designed the alternate coupling that is a purpose with error of effective grand low outline to get used to nerve oneself yuan controller, gave out to control algorithmic astringent and stable proof. This kind is algorithmic and simple, control in real time easily, hold nerve receiving sheet concurrently yuan the control method of adaptability and alternate coupling, have favorable control effect. Coupling of across of 2 parabola contrail gets used to nerve oneself yuan servo of position of double axis movement uses control algorithm extensively already in outline control treatment, how be improved and raising its outline precision is the target that people devotes oneself to to consider and improves hard all the time. According to document [4] [5] to double axis the function of servo is analysed knowable, if coefficient of error of the speed in servo does not match double axis, will put in bigger static outline error, and the difference of the time constant of double shafting all and other trends performance data will affect dynamic outline error. Be aimed at this kind of circumstance, document [3] [4] put forward alternate coupling to control a method, combine odd nerve yuan structure sex of simple, rash club is good, provide the characteristic from adaptability, the article is aimed at the characteristic that elliptical contrail machines, use alternate coupling to get used to nerve oneself yuan controller [6] , its structure sees a picture 1. Graph 1 across coupling gets used to nerve oneself yuan controller structure pursues to the graph 1 medium across coupling gets used to nerve oneself yuan controller precision makes following specifications, ix, iy is interpolation of elliptical contrail classics implement the referenced input after, ox, oy is output value, ux, uy exports a worth for controller. Consider X, Y normally to deliver contain number to be, gy(s)= among them Kx, Ky is X, Y respectively to systematic gain, y of τ X, τ simplifies to the system for X, Y time is invariable, the other in the graph is variable, x1(t) , x2(t) , x3(t) , x4(t) , x5(t) , x6(t) and W1(t) , w2(t) , w3(t) , w4(t) , w5(t) , w6(t) , ux(t) , uy(t) defines as follows respectively: 　 of X6(t)-ey(t)-2ey(t-1)+ey(t-2)(6) (11) of 　 of 　 of X5(t)=ey(t)-ey(t-1)(5) of 　 of 　 of X4(t)=ey(t)=Iy(t)-Oy(t)(4) of 　 of 　 of X3(t)=ex(t)-2ex(t-1)+ex(t-2)(3) of 　 of 　 of X2(t)=ex(t)-ex(t-1)(2) of X1(t)=ex(t)=Ix(t)-Ox(t)(1) 　 　 sets parabola contrail equation to be Y=ax2+bx+c, definition outline error evaluates index ε to be: Basis of 　 of ε =y-ax2-bx-c (12) accuses systematic function to analyse to double number of axle, knowable time truly when sampling time, xux of attainable Ox=K ′ , 　 of Oy=K ′ Yuy(13) among them K ′ Xv, k ′ Y can be fair value approximately [6] . By before type but derivation is as follows: ε (　 of 　 of 　 of 　 of 　 of T)=y(t-1)+ Δ Y-a(x(t-1) + 　 of X)-c (14) of Δ X)2-b(x(t-1)+ Δ writes down for: 　 of 　 of 　 of 　 of 　 of 　 of ε I=yi-1+Oyi-a(xi-1+Oxi)2 　 - B(xi-1+Oxi)-c (15) 　 among them Xi-1, Yi-1 is the terminal position after moving actually last, constant can regard as in operation of I pace. Get used to nerve oneself yuan the key that controls algorithm is in LMS is algorithmic, combine the control idea of alternate coupling, the dynamic outline error that is aimed at a curve amends power worth, the purpose is constant of time of the difference that reduces coefficient of error of two axes speed, system is different the influence that waits for pair of outline errors. Regard function as 2 times index ε 2i, basis most fast drop criterion [7] [8] : (　 of 16) (17) combines Widrow-Hoff- δ regulation, get LMS algorithm to be as follows: (Astringent proof has below 　 of 18) (19) : (20) 　 by type (20) is knowable, when ＞ of 1 ＞ K 0 when, this algorithm is convergent. Because the study of power worth accompanies a system to answer real time to undertake, because this algorithmic convergent problem reflected systematic stability, counterpoise among them of the value amending undertake in order to control an error relative to the negative gradient direction of Wi(t) , should learn rate only consequently the choice is right, algorithm is inevitable and convergent. 3 emulation experiments study the article is algorithmic to afore-mentioned control undertook emulation an experiment, its system parameter from drive of servo of one effective communication 2 dimension workbench differentiates get, this system uses motor of 1i115ST-CMG02 communication servo, control voltage is ± 10V, correspondence of electric machinery rotate speed is Min of ± 2000r ／ . Emulation experiment basically is aimed at systematic character parameter not to match a circumstance to undertake, use Δ K=Kx-Ky to be when different value, controller uses traditional PID and alternate coupling control to get used to nerve oneself respectively yuan control two kinds of means to make quite, Δ K is respectively 5% with 20% , parabola equation is Y=x2, use Y of ／ of 1-x2 of ＝ of ＇ of ε of opposite outline error, the result sees a picture 2, graph 3. From the experiment the result can see, alternate coupling gets used to nerve oneself yuan controller can reduce parabola contrail effectively to control medium outline error. The graph pursues relative to outline error when K=5% of 2 　 Δ when K=20% of 3 　 Δ relative to outline error the article offers 4 conclusion the alternate coupling of parabola contrail gets used to nerve oneself yuan control is algorithmic, this effectively will odd nerve yuan control and the advantage union that alternate coupling dominates a method rise, can to double axis servo trends character does not match undertake adjustment, need not build a model to controlled object, the structure is simple, control in real time easily, more powerful rash club is had below the circumstance that makes the system runs when parameter gender and from adaptability. CNC Milling CNC Machining