| 基于神经网络的机器人驱动系统数学模型辨识 |
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| 引用本文： | 杜艳红,高庆吉,卫勇,于亚萍.基于神经网络的机器人驱动系统数学模型辨识[J].安徽农业科学,2011,39(18):11135-11136,11209. |
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| 作者姓名： | 杜艳红 高庆吉 卫勇 于亚萍 |
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| 作者单位： | 1. 天津农学院机电工程系,天津,300384
2. 天津民航大学航空自动化学院,天津,300300 |
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| 摘 要： | 以轮式移动机器人驱动系统为主要研究对象，提出一种基于神经网络的分析与试验相结合的建模方法。该方法在分析理想直流电动机数学模型的基础上，采用串一并行辨识结构的神经网络确定系统输出与输入的关系，实现了机器人驱动系统的数学模型辨识。最后，通过试验证明了该方法的有效性，为未采工、农业等领域机器人的精确运动和动力控制的研究提供了技术支持。
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| 关 键 词： | 轮式移动机器人 驱动系统 分析与试验 神经网络 模型辨识 |
Mathematical Model Identification of Robot Drive System Based on Neural Network |
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| DU Yan-hong et al.Mathematical Model Identification of Robot Drive System Based on Neural Network[J].Journal of Anhui Agricultural Sciences,2011,39(18):11135-11136,11209. |
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| Authors: | DU Yan-hong |
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| Institution: | DU Yan-hong et al(Department of Mechanic and Electronic Engineering,Tianjin Agricultural University,Tianjin 300384) |
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| Abstract: | This paper studies mainly a wheeled mobile robot drive system with modeling method proposed based on combination of neural network analysis and experiment.Through the modeling method which is based on analysis of the ideal DC motor mathematic mode,the mathematical model identification of robot drive system has been achieved by using neural network with serial-parallel identification to confirm the relationship between the input and output of the system.This method has been proved available through experimen... |
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| Keywords: | Wheeled mobile robot Drive system Analysis and experiment Neural network Model identification |
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