基于CMAC的转台系统逆控制器设计及仿真

Design and Simulation of Turn-table System Inverse Controller Based on CMAC

仿真转台是对飞行器进行地面物理仿真的设备 ,是一个具有一定非线性和不确定性的伺服控制系统。该文利用CMAC的地址映射能够高度逼近非线性函数的特点 ,以转台伺服系统为控制对象 ,采用CMAC神经网络和PD控制器相结合的方法 ,提出一种应用于高精度伺服系统的控制方法 ,使CMAC在控制的前期阶段学习系统的逆 ,后期阶段作为控制器。仿真实验结果表明了这种方法具有自适应和快速收敛的优点。控制器具有良好的控制品质 ,结构简单 。

Turn-table is one of the devices which are used to simulate aerocraft's performance on the ground . It is a kind of servo system with some non-linearity and uncertainty. This thesis takes advantage of the characteristic of CMAC in approaching non-linear function, applies the CMAC network combined with the PD controller on the turntable servo system, provides a method for the high-precision servo system. The method makes the CMAC network study the inverse of the system in the early period, and become the main controller in the end. Simulating experiment has been used to verify the advantage of the scheme in self-adaption and celerity of convergence. The controller gives good control precision, and it is simply structured and easily implemented.