

浏览全部资源
扫码关注微信
1. 中北大学信息与通信工程学院
2. 西北机电工程研究所
Published:2012
移动端阅览
李郁峰, 潘玉田, 李魁武, et al. Trajectory Planning Simulation of Ammunition Auto-Loading Manipulator Based on ANFIS[J]. 2012, 33(6): 649-654.
针对大口径自行火炮弹药自动装填机械手不确定性的复杂非线性系统
提出了一种基于自适应神经模糊推理(Adaptive Neuron-Fuzzy Inference System
ANFIS)的方法
对弹药自动装填机械手进行了运动学分析及轨迹跟踪仿真.该方法利用神经网络的学习机制补偿了模糊控制系统原有的缺点
前提参数采用误差反向传播法
结论参数采用最小二乘法.最后在Matlab中对弹药自动装填机械手进行了建模仿真.仿真与实验结果表明:该方法收敛速度快
泛化能力强
提高了弹药自动装填机械手的轨迹跟踪精度
能够满足实际要求
为进一步实现弹药自动装填机械手自适应控制打下基础.
To the uncertain
complex and nonlinear ammunition auto-loading manipulator system for a large-caliber self-propelled gun
the modeling approach based on adaptive neuron-fuzzy inference system(ANFIS) for kinematics analysis and trajectory tracking simulation of ammunition auto-loading manipulator was presented.This method by using the neural networks′ learning mechanism compensated the original shortcomings of fuzzy control system.The premise parameters were adjusted by error back-propagation method and the conclusion parameters by least square procedure.The Matlab simulation and experimentation results of ammunition auto-loading manipulator indicate that the method has a strong generalization ability and fast convergence
and can improve the accuracy of trajectory tracking and meet the practical requirements.It lays the foundations for further realization of ammunition auto-loading manipulator adaptive control.
王洪瑞,张永兴,刘聪娜.基于ANFIS的机器人系统建模的研究[J].控制工程,2010,17(5):691-694.Wang Hongrui,Zhang Yongxing,Liu Congna.Onrobot system modeling based on ANFIS[J].ControlEngineering of China,2010,17(5):691-694.(in Chinese)
马卫军.自行迫击炮自动供输弹机械手的设计及其动力学仿真分析[D].南京:南京理工大学,2004.
杨杰.供弹机器人的运动学及动力学特性分析[D].哈尔滨:哈尔滨工程大学,2008.
李健,许曼,杨杰.排爆机器人手臂的研制及运动学分析[J].机械与电子,2009(3):66-69.Li Jian,Xu Man,Yang Jie.Design and kinematicsanalysis of bomb-disposed robot manipulator[J].Machinery&Electronics,2009(3):66-69.(in Chinese)
王洪斌,宋佐时,王洪瑞.基于模糊神经网络的机器人逆运动学问题[J].系统仿真学报,2002,14(7):852-854.Wang Hongbin,Song Zuoshi,Wang Hongrui.Fuzzyneural network-based inverse kinematics problem ofrobotic manipulators[J].Journal of SystemSimulation,2002,14(7):852-854.(in Chinese)
史宝奇.三自由度液压伺服关节的设计及其控制方法的研究[D].扬州:扬州大学,2006.
Alavandar S,Nigam M J.Inverse kinematics solutionof 3DOF planar robot using ANFIS[J].Int.J.ofComputers,Communications&Control,2008,3:150-155.
Alavandar S,Nigam M J.Neuro-fuzzy based approachfor inverse kinematics solution of industrial robotmanipulators[J].Int.J.of Computers,Communications&Control,2008,3(3):224-234.
Howard D W,Zilouchian A.Application of fuzzy logicfor the solution of inverse kinematics and hierarchicalcontrols of robotic manipulators[J].Journal ofIntelligent and Robotic Systems,1998,23:217-247.
张小娟.自适应神径模糊推理系统(ANFIS)及其仿真[J].电子设计工程,2012,20(5):11-13.Zhang Xiaojuan.Study on the adaptive network-based fuzzy inference system and simulation[J].Electronic Design Engineering,2012:20(5):11-13.(in Chinese)
张秀玲,逄宗鹏,李少清,等.基于自适应神经模糊推理系统的板形模式识别[J].钢铁研究学报,2009,21(9):59-62.Zhang Xiuling,Pang Zongpeng,Li Shaoqing,et al.Flatness pattern recognition based on adaptive neuro-fuzzy inference system[J].Journal of Iron and SteelResearch,2009,21(9):59-62.(in Chinese)
顾秀萍.自适应神经模糊推理系统(ANFIS)及其仿真[J].火力与指挥控制,2010,35(2):48-53.Gu Xiuping.Study on the adaptive network-basedfuzzy inference system and its simulation[J].FireControl&Command Control,2010,35(2):48-53.(in Chinese)
刘斌,王常虹,蔡美华.基于自适应神经模糊推理系统的陀螺建模方法[J].中国惯性技术学报,2009,17(4):474-478.Liu Bin,Wang Changhong,Cai Meihua.Modeling ofgyroscope based on adaptive neuro-fuzzy inferencesystem[J].Journal of Chinese Inertial Technology,2009,17(4):474-478.(in Chinese)
王福斌,刘杰,焦春旺,等.基于ANFIS的挖掘机器人挖掘轨迹仿真[J].东北大学学报(自然科学版),2011,32(4):554-558.Wang Fubin,Liu Jie,Jiao Chunwang,et al.Simulating the excavating track of a excavator robotusing an adaptive neural-fuzzy inference system[J].Journal of Northeastern University(NaturalScience),2011,32(4):554-558.(in Chinese)
陈新兵.ANFIS的MATLAB实现与液压成型机模糊温控系统的研究[D].湘潭:湖南大学,2005.
0
Views
167
下载量
0
CSCD
Publicity Resources
Related Articles
Related Author
Related Institution
京公网安备11010802024621