tailieunhanh - Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 11

Tham khảo tài liệu 'mechatronic servo system control - m. nakamura s. goto and n. kyura part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 142 6 The Modified Taught Data Method Experimental Verification for Modified Taught Data Method Using a Gaussian Network 1 Conditions of the Experiment In order to verify the effectiveness of a Gaussian network based on the 2nd order model shown in the experiment of contour control using an XY table was made refer to the experiment instrument . The control of the XY table is constructed by two Gaussian networks in equation for independent axes in order to conduct the independent movement of the x axis and the y axis respectively. The experimental results will be shown when the objective trajectory of the XY table is as ux t 4 cos n t 2 0 t 4 r 5n t Í 2----- I t t 5 uy t 4 sin n t 2 0 t 5n t I ị sin 5sn 2 t t 5 . . 0 . 0 2 Generation of the Teaching Signal In the determination of the initial parameters of the Gaussian network the defined value Kp 5 1 s of the position loop gain of the equipment in the equation was used and the critical condition from Kv 4Kp to Kv 20 1 s of the velocity loop gain used in the industrial field which cannot be defined directly was used. This Kv which was not the value measured by the actual device was considered to contain large errors. But the high-precision contour control can be realized because in the proposed method the Gaussian network for the modification element was used and the inverse dynamics can be constructed based on the learning from the actual equipment. Besides the linearizable region condition of the equipment was considered as 15 cm in the movable region of the table. The output scale of the two Gaussian units about the position were set as ộ r cm when xmax 10 cm . The maximal velocity of the equipment was considered as cm s . The output scale of the two Gaussian units about velocity were set as ộ dr dt cm s when xmax 15 cm s . Concerning the safety of the equipment the output scale of the two Gaussian units .