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Design method of intelligent rotary table control system based on adaptive dynamic planning

A technology of dynamic programming and turntable control, which is applied in the direction of electric speed/acceleration control, etc., can solve problems such as the difficulty of turntable system, and achieve the effect of ensuring tracking accuracy and optimizing system performance.

Active Publication Date: 2019-07-23
SOUTHEAST UNIV
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  • Application Information

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Problems solved by technology

However, when the tracking performance index of the turntable system is very high, the nonlinear factors and time-varying characteristics of the turntable system affect the turntable system. A practical turntable servo system with nonlinear time-varying characteristics is necessary to effectively improve the low-speed performance of the turntable system and increase the dynamic range of the turntable system

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  • Design method of intelligent rotary table control system based on adaptive dynamic planning
  • Design method of intelligent rotary table control system based on adaptive dynamic planning
  • Design method of intelligent rotary table control system based on adaptive dynamic planning

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Embodiment Construction

[0062] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0063] Basic Principles of Control System

[0064] For the nonlinear dynamic system of the turntable

[0065] x(t+1)=f[x(t), u(t), t], t=0, 1, ... (2.1)

[0066] where x∈R n Represents the state variable of the system; u∈R m Indicates the control action; f is the system function. The performance index (or cost) function corresponding to this system is

[0067]

[0068] In the formula, U is the utility function, γ is the discount factor, and 0<γ≤1; the function J is the cost function of the state x(t), which depends on the initial time t and the initial state x(t). The purpose of dynamic programming is to select a control sequence u(i), i=t, t+1,...,l, so that the defined function J (ie cost) is minimized.

[0069] Evaluate the output of the network is an estimate of the J function given by the above formula, which can be achieved by minimizin...

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Abstract

The invention discloses a design method of an intelligent rotary table control system based on adaptive dynamic planning. The design method comprises the following steps: first, the angular speed deviation value delta theta<L>(t), namely the deviation between the actual rotary table angular speed and the control required angular speed, of a rotary table is determined and selected as the system state quantity, two delay angular speed deviation values delta theta<L>(t-1) and delta theta<L>(t-2) of the rotary table are determined, and the motor end voltage Ua (t) is selected as the control quantity; second, two multi-layer feed-forward neural networks, namely the execution network and the evaluation network are constructed, and each network is only provided with one hidden layer; third, an intelligent controller algorithm is edited; and fourth, a hardware system is connected to form online learning of a closed-loop control system, wherein as for the closed-loop control system, an upper computer intelligent algorithm controller is used for control, a frequency converter is used for driving, and the rotary table system freely rotates and feeds the angular speed quantity back to an uppercomputer. The low-speed performance of the rotary table system can be effectively improved, and the dynamic range of the rotary table system can be effectively increased.

Description

[0001] Technical field: [0002] The invention relates to the field of high-precision complex electromechanical coupling, in particular to a design method for an intelligent turntable control system based on adaptive dynamic programming. [0003] Background technique: [0004] In recent years, with the development of basic science, the continuous innovation of cutting-edge technologies has promoted the development of national defense equipment towards refinement and intelligence. Stabilized turntable (also called stabilizer) is a high-precision complex electromechanical coupling device, which can be divided into single-axis stabilizer, two-axis stabilizer and three-axis stabilizer. In recent years, the research on two-axis stabilized platform and three-axis stabilized platform has been deepened. The three-axis stabilized platform is mainly used in the field of aviation and aerospace for hardware-in-the-loop simulation and testing, and plays a key role in the development of airc...

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Application Information

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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 孙利生杨涵
Owner SOUTHEAST UNIV
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