计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2014年
18期
236-239,270
,共5页
三自由度直升机%逆系统%径向基神经网络%内模控制
三自由度直升機%逆繫統%徑嚮基神經網絡%內模控製
삼자유도직승궤%역계통%경향기신경망락%내모공제
3-DOF helicopter%inverse system%radical basis function neural network%internal model control
三自由度直升机模型系统是一个典型的非线性、高阶次、多变量、强耦合的多入多出系统，通过数学推导很难获得其逆模型，利用神经网络对任意连续函数很强的逼近能力与逆系统的思想相结合的方法获取三自由度直升机模型系统的逆模型，同时也将一个多入多出、强耦合的非线性系统转化为几个相对独立的单入单出的线性系统。采用内模控制的方法设计控制器，实现对高度角和横侧角的跟踪控制，MATLAB仿真结果表明该方法具有较好的控制效果，半实物仿真也说明该方法的可行性。
三自由度直升機模型繫統是一箇典型的非線性、高階次、多變量、彊耦閤的多入多齣繫統，通過數學推導很難穫得其逆模型，利用神經網絡對任意連續函數很彊的逼近能力與逆繫統的思想相結閤的方法穫取三自由度直升機模型繫統的逆模型，同時也將一箇多入多齣、彊耦閤的非線性繫統轉化為幾箇相對獨立的單入單齣的線性繫統。採用內模控製的方法設計控製器，實現對高度角和橫側角的跟蹤控製，MATLAB倣真結果錶明該方法具有較好的控製效果，半實物倣真也說明該方法的可行性。
삼자유도직승궤모형계통시일개전형적비선성、고계차、다변량、강우합적다입다출계통，통과수학추도흔난획득기역모형，이용신경망락대임의련속함수흔강적핍근능력여역계통적사상상결합적방법획취삼자유도직승궤모형계통적역모형，동시야장일개다입다출、강우합적비선성계통전화위궤개상대독립적단입단출적선성계통。채용내모공제적방법설계공제기，실현대고도각화횡측각적근종공제，MATLAB방진결과표명해방법구유교호적공제효과，반실물방진야설명해방법적가행성。
The 3-DOF helicopter model system is a typical non-linear, higher order, multi-variable, strong coupling of MIMO system. It is difficult to obtain the inverse model derived by the mathematical theory. It combines strong approximation ability for any continuous function of neural network with the method of inverse system to solve the difficult problem of inverse model acquisition, as well as transforms the MIMO and strongly coupled nonlinear system into several relatively independent SISO linear system. It designs the internal model control controller, and completes the tracking control of the elevation angle and lateral angle. MATLAB simulation results show that the method has good control effect, and semi physical simulation also shows the feasibility of the method.
