Self-correcting wavelet neural network control of continuous rotary electro-hydraulic servo motor

• 来源期刊: 高技术通讯（英文版）
• 年，卷（期）: 2021,（1）
• 页码范围: 26-37
• 页数: 12页
• 语种: 英文
• DOI: 10.3772/j.issn.1006-6748.2021.01.004

摘要

In allusion to the problem of friction,leakage,vibration and noise existing in continuous rotary motor electro-hydraulic servo system,highly nonlinearity and uncertainties affecting the system per-formance,based on the transfer function of electro-hydraulic servo system,a kind of Pol-Ind friction model is proposed.The parameters of Pol-Ind friction model are identified and the accurate mathe-matical model of friction torque is obtained by experiment.The self-correcting wavelet neural net-work(WNN)controller is proposed,and Adam optimization algorithm is used to perform gradient optimization on scale factor and displacement factor in wavelet basis function,so as to improve the speed and precision of parameter optimization.Through comparative simulation analysis,it is clearly that the self-correcting WNN controller can effectively improve the frequency response and tracking accuracy of continuous rotary motor electro-hydraulic servo system.