Title :
Grey prediction in the application of friction compensation
Author :
Weihong, Wang ; Xiyang, Wang
Author_Institution :
Autom. Dept., Beihang Univ., Beijing, China
Abstract :
A method of combining GM (0, N) model with BP neural network is proposed and used in friction compensation. Firstly BP neural networks compensate the friction, then BP network is replaced with GM (0, N) model in a certain moment. With this method the neural network can apperceive the friction torque by online self learning and compensate. The results of both simulation and experiment show that the method is feasible and effective on the friction compensation, it has well prospect for engineering application.
Keywords :
compensation; control engineering computing; grey systems; learning (artificial intelligence); neural nets; servomotors; torque control; BP neural network; GM (0, N) model; friction compensation; friction torque; grey prediction; online self learning; servo system; Control systems; Data mining; Electronic mail; Friction; Monitoring; Neural networks; Predictive models; Servomechanisms; Torque; Uncertainty; BP neural networks; Friction compensation; Grey prediction; Servo system; Simulator;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5195181
