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针对锻造操作机液压伺服驱动夹钳旋转系统的强非线性问题,提出了一种基于T-S模糊模型的夹钳旋转系统的建模方法。根据夹钳旋转系统的非线性特性,把锻造操作机夹钳旋转系统的状态空间划分为若干个子空间,构建成具有参数不确定性的T-S模糊模型。将模糊推理系统中的模糊规则及隶属度函数参数通过自适应模糊神经网络自学习整定,产生模糊规则和隶属度函数。通过实验验证所建夹钳旋转系统T-S模糊模型的合理性。实验结果表明,建立夹钳旋转系统T-S模糊模型的输出与实验实际系统的输出基本吻合,所建立的夹钳旋转系统T-S模糊模型为夹钳旋转系统的控制提供了基础。
Aiming at the strong nonlinear problem of rotating servo system of hydraulic servo drive forging manipulator, a modeling method of clamp rotating system based on T-S fuzzy model is proposed. According to the nonlinear characteristics of the clamp rotating system, the state space of the rotating system for the clamp of the forging manipulator is divided into several subspaces, and a T-S fuzzy model with parameter uncertainty is constructed. The fuzzy rules and membership function parameters in the fuzzy inference system are self-learning and adaptive through the adaptive fuzzy neural network to generate fuzzy rules and membership functions. The rationality of the T-S fuzzy model of the clamp rotating system was verified by experiments. The experimental results show that the output of the T-S fuzzy model of the rotating system of the clamp is basically consistent with the output of the actual experimental system. The established T-S fuzzy model of the rotating system of the clamp provides the basis for the control of the rotating system of the clamp.