化工機(jī)械設(shè)備網(wǎng)
詳細(xì)介紹
804112-R /57C413B
：（同號(hào)）/，
大量現(xiàn)貨，價(jià)格合理，當(dāng)天打款，當(dāng)天順豐，即日到貨。
1、華東地區(qū)（包括山東、江蘇、安徽、浙江、福建、上海）；
2、華南地區(qū)（包括廣東、廣西壯族自治區(qū)、海南）；
3、華中地區(qū)（包括湖北、湖南、河南、江西）；
4、華北地區(qū)（包括北京直轄市、天津直轄市、河北、山西、內(nèi)蒙古自治區(qū)）；
5、西北地區(qū)（包括寧夏回族自治區(qū)、新疆維吾爾自治區(qū)、青海、陜西、甘肅）；
6、西南地區(qū)（包括四川、云南、貴州、西藏自治區(qū)、重慶直轄市）；
7、東北地區(qū)（包括遼寧、吉林、黑龍江）；
8、臺(tái)港澳地區(qū)（包括中國(guó)臺(tái)灣、香港、澳門）。
◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆
摘要：本文綜合了自適應(yīng)神經(jīng)元控制器與交叉耦合控制方法的優(yōu)點(diǎn)，引進(jìn)輪廓誤差的二次性能指標(biāo)，設(shè)計(jì)了應(yīng)用于拋物線軌跡加工的交叉耦合自適應(yīng)神經(jīng)元控制器。該控制用具有良好的自適應(yīng)學(xué)習(xí)能力，無(wú)須對(duì)控制對(duì)象建模，結(jié)構(gòu)簡(jiǎn)單，實(shí)時(shí)性好，實(shí)驗(yàn)證實(shí)可有效減小拋物線輪廓誤差。
關(guān)鍵詞：自適應(yīng)神經(jīng)元 交叉耦合控制 拋物線
Research on application of the cross-coupled controller based on single neuron
to the parabola contour
Shi Yi et al804112-R /57C413B
Abstract:This paper proposes the control strategy of the cross-coupled controllerbased on single neuron for parabola contour, which combines with the adaptive neuron controller and cross-coupled controller. The controller needn't model the system, it has the simple structures and the adaptive ability. The experiment results prove the effectivness of the controller.
Keywords: Adaptive nenron Cross-coupled control Parabola
1 引言
傳統(tǒng)的PID方法由于結(jié)構(gòu)簡(jiǎn)單，調(diào)整方便，因此目前仍被廣泛地應(yīng)用。但是對(duì)一些過(guò)程復(fù)雜且參數(shù)慢時(shí)變的系統(tǒng)，PID的參數(shù)則顯出不能實(shí)時(shí)在線調(diào)整、魯棒性差、參數(shù)整定復(fù)雜等很多不足。而神經(jīng)網(wǎng)絡(luò)由于具有自學(xué)習(xí)、自適應(yīng)、聯(lián)想記憶、并行處理等能力，使其近來(lái)年在控制領(lǐng)域中的研究和應(yīng)用得到很大發(fā)展。單神經(jīng)元是神經(jīng)網(wǎng)絡(luò)中zui基本的單元，它結(jié)構(gòu)簡(jiǎn)單，易于用作實(shí)時(shí)控制，并具有良好的控制性能，已經(jīng)應(yīng)用于伺服系統(tǒng)的控制領(lǐng)域，且在單軸位置伺服系統(tǒng)的控制方面取得了一定的成果【1】【2】，但在多軸位置伺服系統(tǒng)的輪廓控制方面，由于各軸系統(tǒng)動(dòng)態(tài)特性不匹配而造成較大的輪廓誤差，單個(gè)自適應(yīng)神經(jīng)元控制器分別作用的控制效果則不很理想。對(duì)于多軸系統(tǒng)的輪廓控制，文獻(xiàn)【3】【4】【5】研究了交叉耦合控制方法，該方法將多軸系統(tǒng)作為整體考慮，使運(yùn)動(dòng)過(guò)程中各系統(tǒng)產(chǎn)生的輪廓誤差影響每個(gè)伺服結(jié)構(gòu)的控制作用，通過(guò)調(diào)整影響權(quán)值減少總的輪廓誤差，降低多軸系統(tǒng)動(dòng)態(tài)特性的不匹配。這種方法可以取得一定的效果，但其調(diào)整權(quán)值一般是不能進(jìn)行在線調(diào)整的，魯棒性較差，且控制器的運(yùn)算較復(fù)雜，尤其是對(duì)于復(fù)雜軌跡，不便于進(jìn)行實(shí)時(shí)控制，這就是交叉耦合控制方法的不足之處。
本文根據(jù)文獻(xiàn)【6】結(jié)合自適應(yīng)神經(jīng)元與交叉耦合控制器的優(yōu)點(diǎn)，引進(jìn)輪廓誤差的二次性能指標(biāo)，對(duì)于拋物線軌跡，設(shè)計(jì)了以有效隆低輪廓誤差為目的的交叉耦合自適應(yīng)神經(jīng)元控制器，給出了控制算法收斂及穩(wěn)定的證實(shí)。這種算法簡(jiǎn)單，易于實(shí)時(shí)控制，并兼收單神經(jīng)元的適應(yīng)性與交叉耦合的控制方法，具有良好的控制效果。
2 拋物線軌跡交叉耦合自適應(yīng)神經(jīng)元控制算法
雙軸運(yùn)動(dòng)位置伺服系統(tǒng)已廣泛應(yīng)用于輪廓控制加工中，如何改善并進(jìn)步其輪廓精度一直是人們致力于研究并努力改善的目標(biāo)。根據(jù)文獻(xiàn)【4】【5】對(duì)雙軸伺服系統(tǒng)的性能分析可知，假如雙軸伺服系統(tǒng)中速度誤差系數(shù)不匹配，將存在較大的靜態(tài)輪廓誤差，而雙軸系統(tǒng)的時(shí)間常數(shù)及其它動(dòng)態(tài)性能參數(shù)的差異將影響動(dòng)態(tài)輪廓誤差。針對(duì)這種情況，文獻(xiàn)【3】【4】提出交叉耦合控制方法，結(jié)合單神經(jīng)元結(jié)構(gòu)簡(jiǎn)單、魯棒性好、具自適應(yīng)性的特點(diǎn)，本文針對(duì)橢圓軌跡加工的特點(diǎn)，采用交叉耦合自適應(yīng)神經(jīng)元控制器【6】，其結(jié)構(gòu)見(jiàn)圖1。
Puls SL10.100 Power Supply
Compressor Line 1/2" Cryopump Vacuum Helium (10 Foot)
Festo Output Module (CP-A08-M12-5PO?L)
Toshiba Expansion Station Base For Tecra 8100 and 8200 Ser (PA3018U-1DST)
Yaskawa CIMR-XCAA20P7 Inverter Drive VS mini 200V 3 PH 0.75kW
Yaskawa CIMR-XCAA20P2 Inverter Drive VS mini 200V 3 PH 0.2kW
Adds Terminal (VPT-122)
Omega Engineering Humidity Sensor - shows Degrees F and Relative Humidity
DCA IRMA III 8 DIP LA Coax Network 8 Bit & PCI Long Board (004930)
NEC Lot of ICS/IMX/IPX Manuals (NEAX 2400)
Johnson Controls V47AA-3 Temperature Actuated Modulating Water Valve 3/8" NPTF
Stonel QX2VB02SDA-DWC0?1 Explosionproof Valve Monitor / Switch
RKC RHT-L121 Humidity and Temperature Transmitter with Cable
IFM Electronic SY 0101 Fluid / Gas Flow Controller
Biostar MB-8500TAC-A, Ver.1 Socket 7 Motherboard
Micro-Star International (MSI) MS-5146, Ver.1 Socket 7 Motherboard
Sharp JW-8AD Analog Input Module
Sharp JW-10SU Serial I/F Module
Eurotherm 931/25A240V/M/X Thyristor
Omron H5F Time Switch
Koganei CS-TBDA16x100 Pneumatic Double Air Cylinder
Festo CP-E16-M8 Output Module
Flexible WR-62 01006550-00REV.?B Waveguide Ku Band with Rigid Extension
Flexible 01002398 WR62 Waveguide Ku Band 45cm
Vindicator Redundant Monitor Controller (RMC-2100)
CPI 45U Standard ecom Rack (55053-X03)
Beckman 343120 Variable Speed Tabletop Centrifuge with Rotor (Microfuge 11)
Cabletron Hubstack 100 Base-TX Hub with Lanview (SEHI100TX-22)
HP LAN 802.3 Coax Trunk Cable (E-76107)
Ford Aerospace Test-Splitter Comb. Module in 19" rack (57402)
La Cie Ltd. Power Supply (TX8000 PWR)
Clippard Bimba Metal Device w/ pump (UDR 17)
Bell DataPhone Vintage Modem Huge 42 Pounds (9600)
Enlarge
Avaya Merlin 8 MLX (Digital) ephones Module (008 MLX)
Square-D emecanique Lot of 9 Each Contactor Contact Attachment
Iomega Bernoulli Transportable 90Pro Drive (B1150T)
Cisco 2600 Series 1 Port Router (47-4747-02)
IBM T42 1.0GHz Centrino, 512MB Ram, 40GB HDD (23795VU)
Lukhan Barcode Label Printer (LK-B20)
Croyden Rinse Controller 24 Volts (Series 960-2)
Nullmatic 40-7 Pressure Regulator (14870-3/14PI)
HP DeskJet Printer 722C (C5871A)
Alphabet Low Tension DC Power Supply (PPS1000/24)
Corporate Computer Systems CCS Micro 56& (601556)
Toshiba Salite 225CDS/4.1 Lap*33MHz (PA1240U-S6C)
Huges Lan Systems Ethernet Broadbank Backbone (ProBridge 8233)
Atrix International Omega Vac Vacuum 1 GAL (VACOMEGA)
Seagate 4/8 GB Internal SCSI Travan Tape Drive 50 Pin (CTT8000R-S)
Digital Equipment Corp DEC Repeater 350 (DETPR-BA)
MDC 17.5" H 1.25" ID - 1.75" ID w/6" Flange 4 Each 5/8 (Vacuum Column w/ Flange)
Croyden Rinse Controller (960-2)
Sun Marathon 512MB Mezzanine RAM Module (62650)
Seagate 170MB Laptop Hard Drive (ST9190AG)
IVS BAB Board Accuvision 200 (0001-00208)
Action Instruments Visipak V502 Thermocouple Input Digital Indicator
Motorola / UDS Rackmount Modem (V.3225)
Mountain 40MB 5.25" SCSI Tape Drive (01-05740-01)
Nor / Bay Networks Nor Centillion 5000 2-Port OC3 ATM Module (CL1333001)
xon 900 Mhz Dataspan Network Interface 18737-000 (DS-2415)
Sensotec Load Cell (13/2443-07)
Total Accuracy Transducers Transducer 2mN Load Range 200 GMF Safe Overrange
MAI Power Supply (4114)
Picture Video Conferencing Unit (520-0663-03)
Cryovac D-955 Shrink Film .60 Mils 5463 Sq ft.
Unknown Pneumatic Fixture (8711 1)
Robohand RA-15 2-Jaw Angular Gripper 6o
Dell In P4 1.5GHz, 256MB RAM, 40GB HDD (Optiplex GX400)
International Engineering Consortium ISBN 0931695024
Archive 60 MB 5.25" Full Height QIC-36 SCSI Tape Drive (5945SI)
Bay Networks Ethernet NMM for Enterprise 5000 Switch (5310A/SA)
Serdex Graff (11x8x4)
Browning 3 V-Groove Sheave (3B94SK)
HP DR547AV Desktop Computer In Celeron D 2.4GHz, 1GB RAM, 40GB HDD, CD-ROM Dr
Mitsubishi Diamond Pro 87TXM 17" CRT Monitor (TFM8705SKHK)
Avaya Merlin 8 GS or LS Outside Lines (800 GS/LS)
Veeco Ionization Pressure Gauge (RG1000)
FDC Gate Valve (10" x 9" x 6")
In P4 Processor 3.2Ghz/2048/800?/1.3V Socket 775 CPU (SL7Z8)
Sun 711 Ultra SCSI External Hard Drive Enclosure (599-2059-01)
Schmersal Interlock Switch (AZM 160-23yrpka)
Applied Magnetics Pneumatic Fixture (NL)
Dell In P4 3.0 GHz, 1.0GB RAM, 160GB HDD, Desktop (Optiplex 320 MT)
Lucent 604D1-003 MLX-DSS - Expansion Module Console (108047713)
Compaq 40x12x40x CD-RW Drive (268985-B22)
Square D Pressure Switch (9012 Series C)
Hunington Mechanical Laboratories Vacuum System Valve Body (PV-150)
Signal Corps Vintage Radio Frequency Meter with Calibration Book MC-177-AK
Enlarge
Dayton Fan Duty 4 Speed AC Motor 230 Volt AC (3M222A)
Lanier Facsimile Transceiver Machine (1110CG)
APC 900 VA Back-UPS 900 Battery Power Supply 24VDC (Back-UPS 900)
Chatsworth Products, Inc. Open Frame Aluminum Rackmount (19")
Cisco Systems WS-C2900 Catalyst 2900 Series Switch
Dell In Pentium Dual Core 1.6GHz, 1GB RAM, 80GB HDD (Optiplex 745 DT)
Bretford 84 Inch by 66 Inch Wall Mounted Projector Screen
Herman Miller Work Surface 30 inches deep x 42 inches wide (Action Office II)
IBM T42 1.5GHz Centrino, 512MB Ram, 40GB HDD (2378DTU)
Adax PMC-ACT MRL 5 (93-8040)
HP Latching Coaxial Switch (Format 1C (SPDT) ~V)
Ultratech Stepper Cable Fiber Optic (01-15-04325)
Abbott Spectrum One Source Lamp (1366-24)
Intermec Janus L2010 w/ connection cord (061019-002)
IBM 512MB 133MHZ ECC SDRAM RDIMM (33L3128)
HP 256KB Controller Memory Card - 200 310 (98256A)
IKL Position Measuring Device with Serial Cable (3082-01)
Creative Labs PCI Video Card DXR2 DVD Decoder Dual (CT7220)
Efector Proximity Sensor (KB-3020-BPKG)
Dialogic Modem Card 300-0010 Ver. 56 (D204278)
Gor'Kov, L..P. and Gruner, G., Eds. North-Holland 1989
Guzik PCB (UP-205)
FSI Control-PC Heater AC Assy (293011-400 C)
Generic 30GB/512MB CD-Rewritable/D?VD-Rom - Tower Computer (P4 2.4 GHz MSI)
Xerox Workcenter Color Copier Printer Scanner (Xi70c)
IBM 3.5" 2.2GB 50PIN HDD (74G7029)
HP 4.2GB HH SCSI Hard Drive (D3341-60020)
HP 1.0GB 3.5" HH SCSI Hard Drive 50 Pin (C3305-60127)
Compaq 2.1GB 3.5" SCSI Hard Drive 68 Pin - IBM 74G6990 (199640-001)
Seagate 18.2GB 3.5" SCSI HH Hard Drive (ST118273W)
Western Digital 36GB 3.5" SATA Raptor Hard Drive (WD360ADFD)
Compaq 1.0GB 3.5" HH SCSI-2 Hard Drive Micropolis 2112 (142039-001)
Quantum 18.2GB Atlas 10K SCSI Hard Drive - Evaluation Unit (TN18F011)
Compaq 15.0GB 3.5" IDE Hard Drive - Quantum 15.0AT (201761-001)
Micropolis 1.0GB 3.5" IDE Hard Drive (2210A)
Seagate 1.0GB 3.5" HH SCSI Hard Drive 50 Pin (ST11200N)
IBM 18GB 3.5" SCSI Hard Drive 68 Pin - 07N7123 (07N6266)
Seagate ST380020A U6 80GB 7200RPM IDE ATA100 3.5" Hard Drive
Western Digital WD800BB-75FRA0 80GB 7200RPM ATA-100 IDE INTERNAL 3.5" HARD DRIVE
Western Digital WD800BB-75DKA0 80GB 3.5" IDE Hard Drive
Western Digital WD800BB-75CAA0 80GB 7200RPM 3.5" IDE Hard Drive
Seagate 98D132-33 160GB 3.5" 7200RPM SATA Hard Drive
Dell 65YWW 30GB 7200 RPM 3.5" IDE Hard Drive - 30.0AT
Seagate ST320424A 20GB Barracuda ATA II 100 3.5" IDE Hard Drive
Hitachi Travelstar HTS721080G9AT00 80GB 2.5" 7200RPM SATA Laptop Hard Drive 0A27
Western Digital WD2500BEVS 250GB 2.5" SATA Hard Drive 1.5GB/s
Compaq 127981-001 18.2GB 3.5" 10K RPM Wide Ultra 2 SCSI Hard Drive
Seagate ST3320620A 320GB Barracuda IDE Ultra ATA100 Hard Drive
Seagate ST3300831A 300GB 3.5" IDE Hard Drive 9Y7284-301
Seagate ST32430WC 2.14GB 5400 RPM SCSI SCA 3.5" Hard Drive
Micropolis 4110 1052MB SCSI 50 Pin Hard Drive TR0031-02-1
HP P1591-60101 15.3GB 7200rpm 3.5" ATA Hard Drive
Western Digital WD2500JD-40GBB2 250.0GB 3.5" SATA Hard Drive WD2500
Western Digital WD10EAVS 1.0TB 3.5" Caviar Green SATA Hard Drive
Quantum RZ26-E 1050MB 3.5" HH SCSI2 FAST
IBM 00K4000 OEM SCSI 4560MB Hard Drive DDRS-34560
Compaq 218318-001 20GB Hard Drive 2BO2OH1
Hewlett Packard Slide Kit for LP 1000 J1527A-63001 (J1527A)
RJS TP-36 Receipt Printer (TP-36)
Prestige Rackmount Kit for 27" Deep Rack (101259058-001)
Iomega Bernoulli 44 Transportable Optical Drive (B144P)
HP Terminal 115V (lite screen burn) (2392A)
Vectronics Microwave Digital RF Attenuator Aluminum Enclosure w/Connectors
Adaptec Circuit Board (400106-00)
Gateway In P4 2.8GHz, 512MB RAM, 40GB HDD (E4100)
Dell Pentium 4 2.8 GHz Tower Computer (Optiplex 170L)
Wyse 14" Terminal - Winterm 2500-TP (901817-021)
Browning 1-15/16" Pillow Block Medium Duty 2 Bolt Bearing (VPS-331)
Black Box Data Broradcast Hub ~V (TL158A-R53)
Citizen Friction Feed 25 Pin Serial Receipt Printer (iDP3540-F40SF1?20-IB)
ADC Kentrox DataSmart T1 ADD/DROP W/V.35 (787061)
Decom Systems PSK/PCM Bit Synchronizer (7376-41000-012?-333)
IBM Keyboard for IBM 3290 terminal (1387001)
Cubix Multiport Serial Card - A4190 (MP2008)
Stainless Steel O.D. 2.0" x I.D. 7/8" uses 4 " Filter (Filter Housing)
Allied esyn Workgroup 16 Port Switch 10BT 100BTX-PORT PNP (AT-3716TR)
Power One Rackmount Power Supply &/-12VDC & 24VDC (HAA15-0.8-A / HB24 1.2-A)
Custom Stainless Steel Rotating Stage (N /A)
Kronos Time Clock with Modem - Used (460F)
Omni Internal 4-Modem Card (Netcomm Q1200)
Proxima CruiseLan Access Point (ALN-1020-00)
Dell In Pentium D 3.4GHz, 1GB RAM, 80GB HDD (Optiplex 745 SFF)
Huntington Labs Vacuum Conflat Flange (O.D. 113mm, I.D. 60mm)
Fluke Universal Counter/Timer - 2 Channel (7260A)
Compaq In P4 1.7GHz, 128MB RAM, 20GB HDD (Evo D500)
Racal Excalibur ISX-5312 - No AC Adapter (ISX 5312)
Various Pipets in boxes (11 types) (Glass)
Sharp LCD Projector (XG-H440U)
Westinghouse Full Transformer (1F2881)
Zeiss Infinity/ 1.5 Objective w/Optical tube (Epiplan 10/ (0.2) 0.15)
e-Path Industries TPI DS1 Test Access Module w/ Case (108-DS1)
Seagate 9Y7384-301 300GB 3.5" Barracuda 7200.8 ST3300831AS Hard Drive
ION Systems Ionizing Blower 32 Inches Long (Precision SC 6412A)
Poly A051908 Plastic Pallet Covers 30 Count 50x42x90 Clear Cover Barrier Liner
HP Directional Detector (788C)
Motorola Codex 3260 Fast Data Modem Codex 42600 (3260 Data Modem)
Panasonic D816 Digital Super Hybrid ephone PBx System (KX-TD1232)
Varian MUX Adapter PCB (01002599)
MKS 2000 SCCM Gas HE Mass Flow Meter (1258C-02000RV-?SPCAL)
Custom Apparatus w/ Moveable Lens (Optical)
Digital Equipment Corp DEC Legacy Equipment (LCG01-CC)
HP SureStore SCSI Tape 6000 4/8GB 4mm DAT C1528F (C1528-60003)
Morse Industrial 1-7/16" SealMaster Gold Line Pillow Block Bearing (NP-23)
Dell Optiplex GX240 P4 1.8 Ghz, 384MB, 40 GB, Tower Computer
Ametek Trim Series Force Gauge - Very Clean (T-50G-TC)
化工機(jī)械設(shè)備網(wǎng)