804112-R /57C413B

：（同号）/，

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 摘要：本文综合了自适应神经元控制器与交叉耦合控制方法的优点，引进轮廓误差的二次性能指标，设计了应用于抛物线轨迹加工的交叉耦合自适应神经元控制器。该控制用具有良好的自适应学习能力，无须对控制对象建模，结构简单，实时性好，实验证实可有效减小抛物线轮廓误差。

关键词：自适应神经元 交叉耦合控制 抛物线

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

传统的PID方法由于结构简单，调整方便，因此目前仍被广泛地应用。但是对一些过程复杂且参数慢时变的系统，PID的参数则显出不能实时在线调整、鲁棒性差、参数整定复杂等很多不足。而神经网络由于具有自学习、自适应、联想记忆、并行处理等能力，使其近来年在控制领域中的研究和应用得到很大发展。单神经元是神经网络中zui基本的单元，它结构简单，易于用作实时控制，并具有良好的控制性能，已经应用于伺服系统的控制领域，且在单轴位置伺服系统的控制方面取得了一定的成果【1】【2】，但在多轴位置伺服系统的轮廓控制方面，由于各轴系统动态特性不匹配而造成较大的轮廓误差，单个自适应神经元控制器分别作用的控制效果则不很理想。对于多轴系统的轮廓控制，文献【3】【4】【5】研究了交叉耦合控制方法，该方法将多轴系统作为整体考虑，使运动过程中各系统产生的轮廓误差影响每个伺服结构的控制作用，通过调整影响权值减少总的轮廓误差，降低多轴系统动态特性的不匹配。这种方法可以取得一定的效果，但其调整权值一般是不能进行在线调整的，鲁棒性较差，且控制器的运算较复杂，尤其是对于复杂轨迹，不便于进行实时控制，这就是交叉耦合控制方法的不足之处。
本文根据文献【6】结合自适应神经元与交叉耦合控制器的优点，引进轮廓误差的二次性能指标，对于抛物线轨迹，设计了以有效隆低轮廓误差为目的的交叉耦合自适应神经元控制器，给出了控制算法收敛及稳定的证实。这种算法简单，易于实时控制，并兼收单神经元的适应性与交叉耦合的控制方法，具有良好的控制效果。

2 抛物线轨迹交叉耦合自适应神经元控制算法

双轴运动位置伺服系统已广泛应用于轮廓控制加工中，如何改善并进步其轮廓精度一直是人们致力于研究并努力改善的目标。根据文献【4】【5】对双轴伺服系统的性能分析可知，假如双轴伺服系统中速度误差系数不匹配，将存在较大的静态轮廓误差，而双轴系统的时间常数及其它动态性能参数的差异将影响动态轮廓误差。针对这种情况，文献【3】【4】提出交叉耦合控制方法，结合单神经元结构简单、鲁棒性好、具自适应性的特点，本文针对椭圆轨迹加工的特点，采用交叉耦合自适应神经元控制器【6】，其结构见图1。

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