ELMCS design using CMAC compound control algorithm

Author

Wang, Xin ; Feng, Dongzhu ; Sun, Shijie

Author_Institution

Coll. of Astronaut., Northwestern Polytech. Univ., Xi´´an, China

fYear

2009

fDate

17-19 June 2009

Firstpage

2910

Lastpage

2914

Abstract

In this paper the mathematical model of electric load motion control system (ELMCS) is established and the specific algorithm is given to eliminate amplitude distinction and phase distinction between the command torque and loaded torque. The motion controller is designed based on the cerebellar model articulation controller (CMAC) and PID compound control algorithm. Sine curves of electric load movement are calculated through simulation and the effectiveness of the CMAC compound control algorithm is verified. The motion control performance can be satisfied when the frequency of command torque changes from 1 Hz to 10 Hz and command amplitude changes from 1 Nm to 3 Nm.

Keywords

cerebellar model arithmetic computers; control engineering computing; motion control; three-term control; CMAC compound control algorithm; ELMCS design; PID compound control algorithm; amplitude distinction; cerebellar model articulation controller; command torque; electric load motion control system; frequency 1 Hz to 10 Hz; loaded torque; phase distinction; sine curves; Algorithm design and analysis; DC motors; Damping; Equations; Mathematical model; Mechanical systems; Motion control; Servomotors; Shafts; Torque; CMAC; Compound control; Electric load; Modeling;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CCDC.2009.5192782

Filename

5192782