滚仰式半捷联稳定平台的神经网络自适应控制算法
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摘要
基于滚仰式半捷联稳定平台的机械结构特性,建立了稳定平台的运动学及动力学模型。为了解决动力学建模不确定性以及摩擦力等外界干扰对稳定平台工作性能的影响,实现滚仰式导引头的捷联稳定控制,设计了一种神经网络自适应控制算法,并将其应用于稳定平台的控制之中。仿真结果表明,相比传统方法,提出的算法可以有效提高滚仰式稳定平台抵抗外界干扰的能力,在动力学建模误差、摩擦等扰动很大的情况下仍可以保证滚仰式稳定平台的控制精度,其结果可以为滚仰式导引头的稳定与跟踪控制提供研究基础。
Based on the mechanical structure of the roll-pitch platform, the kinematics model and the dynamic models were established. In order to eliminate the effects of the external disturbances such as dynamic modeling uncertainty and friction on the stabilized platform performance, and achieve the strapdown stabilization control of the roll-pitch seeker, a neural network adaptive control algorithm was designed and applied to the control of a stabilized platform. The simulation results show that compared with the conventional control methods, the proposed control algorithm can effectively improve the control performance of the roll-pitch stabilized platform, the tracking ability can be ensured under the external disturbances such as modeling error and friction. These results can serve as a basis for the control of roll-pitch stabilized platform.
Based on the mechanical structure of the roll-pitch platform, the kinematics model and the dynamic models were established. In order to eliminate the effects of the external disturbances such as dynamic modeling uncertainty and friction on the stabilized platform performance, and achieve the strapdown stabilization control of the roll-pitch seeker, a neural network adaptive control algorithm was designed and applied to the control of a stabilized platform. The simulation results show that compared with the conventional control methods, the proposed control algorithm can effectively improve the control performance of the roll-pitch stabilized platform, the tracking ability can be ensured under the external disturbances such as modeling error and friction. These results can serve as a basis for the control of roll-pitch stabilized platform.
引文
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[15]Zhang L,Chen W H,Liu J M,et al.A robust adaptive iterative learning control for trajectory tracking of permanent magnet spherical actuator[J].IEEE Transactions on Industrial Electronics,2016,63(1):291-301.
[2]韩宇萌,贾晓洪,王炜强,等.基于BP神经网络的捷联导引头控制系统设计[J].测控技术,2016,35(10):70-74
[3]刘慧,朱明超,高思远,等.滚仰式导引头稳定平台动力学建模及驱动力矩计算[J].东北师大学报(自然科学版),2014,46(3):81-86.
[4]李锐华,林宇.小型红外成像制导稳定平台控制算法研究[J].红外技术,2014,36(2):142-147.
[5]陈雨,赵剡,张同贺,等.滚仰式捷联导引头跟踪原理与仿真[J].航空兵器,2010(5):55-58.
[6]Kennedy P J,Kennedy R L.Direct versus indirect line of sight(LOS)stabilization[J].IEEE Transactions on Control Systems Technology,2003,11(1):3-15.
[7]韩宇萌,冯茜,贾晓洪,等.空空导弹滚仰式捷联红外导引头控制设计[J].计算机仿真,2016,33(10):86-90.
[8]王仁臻,赵嫔娅,陈艺.摩擦对稳定平台稳定精度影响的研究[J].航空兵器,2012(3):58-60
[9]Zarchan P.Tactical and Strategic Missile Guidance[M].Massachusetts:American Institute of Aeronautics and Astronautics,2012.
[10]Murray R M,李泽湘,Sastry S.机器人操作的数学导论[M].北京:机械工业出版社,1998:22-47,66-78.
[11]费弘翔,安博文.基于DSP智能调节稳定平台速率环参数[J].测控技术,2015,34(11):87-89.
[12]Alanis A Y,Sanchez E N,Loukianov A G.Real-time discrete backstepping neural control for induction motors[J].IEEE Transactions on Control Systems Technology,2011,19(2):359-366.
[13]刘敬猛,刘岩,陈伟海,等.永磁球形电机的神经网络自适应控制算法[J].北京航空航天大学学报,2014,40(1):25-30,
[14]侯伟,李峰,王绍彬.无刷直流电机的模糊神经网络控制设计[J].测控技术,2017,36(8):74-77.
[15]Zhang L,Chen W H,Liu J M,et al.A robust adaptive iterative learning control for trajectory tracking of permanent magnet spherical actuator[J].IEEE Transactions on Industrial Electronics,2016,63(1):291-301.