A novel method for restraining the redundancy torque based on DFNN

According to load simulator,it is difficult to be accurately modeled.Redundancy torque affects the performance characteristics of load torque seriously.A new method of eliminating redundancy torque is proposed based on a dynamic fuzzy neural network(DFNN).The dynamic fuzzy neural network is the system to be automatic modeling and extracting fuzzy rules of the network,without strong of experts in the field of knowledge.The fuzzy neural network structure changes dynamically.The fuzzy rules form with the learning process.The control strategy is combining with the feed-forward feedback control and direct inverse control,updating algorithm,the network structure and parameters online,tracking of the controlled object inverse model changes.Its parallel the PID controller is to keep the function of the system stability and get a more rapid response and better tracking precision.The satisfactory result of the simulation shows that redundancy torque eliminates effectively,the performance of load simulator system is improved.