Decoupling Control Research of Neutral Buoyancy Plant Based on CMAC

Abstract

Abstract: To solve the control problem of neutral buoyancy plant, a dynamic decoupling and multidimensional compound control agorithm was proposed. By the plant force situation analysis, its six degree motion control model was developed. Then a dynamic decoupling neural network was designed with the merit of adaptation of the dynamic changing coupling situation. CMAC (Cerebellar Model Articulation Controller) and PID compound control was adopted in single channel control, whose advantage is that it combines the rapidity of CMAC feedforward control and anti-interference of PID feedback control. MATLAB simulation results show that the algorithm can control the plant's position and posture effectively. The agorithm has short adjusting time and high stability precision, which outpeforms PID control.

Key words: neutral buoyancy, CMAC, PID, NNsdecoupling

CLC Number:

TP273.3

Li Peilong, Wang Lei, Li Gaofeng. Decoupling Control Research of Neutral Buoyancy Plant Based on CMAC[J]. Journal of System Simulation, 2015, 27(5): 1003-1009.

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