期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

超小型旋翼机平面转弯运动的神经网络补偿建模

Modeling of a Subminiature Rotorcraft in Horizontal Turning by Using NN-Compensation
下载PDF
导出
摘要 采用神经网络补偿机理模型法进行超小型旋翼机系统的平面转弯运动建模。首先建立系统的非线性参数化模型,通过把非线性模型在平衡点线性化,得到描述系统平面转弯运动的线性机理模型;然后针对转弯运动,采用对角回归网络来补偿机理模型与非线性模型之间的误差,从而获得超小型旋翼机系统的平面转弯运动的混合模型。仿真结果表明,该混合模型比单纯机理模型有更高的精度,且所获得的补偿神经网络具有很强的泛化能力。 A hybrid modeling method of a subminiature rotorcraft in horizontal turning had been proposed by using mechanism model and NN-compensation. First, the nonlinear dynamics of a subminiature rotorcraft was established. Through linearization of the nonlinear dynamics on the trim point, the linear time-invariant mechanism model in horizontal turning had been obtained. Then according to horizontal turning, a diagonal re-cursive neural network was used to compensate the mod- el error between the mechanism model and the real nonlinear model, thus the hybrid model of a subminiature rotorcraft in horizontal turning was achieved. Simulation results show that the hybrid model has higher accuracy than that of mechanism model and the obtained compensated-NN has high ability of generalization.
作者 陈丽 龚振邦 段登平
机构地区 上海交通大学 上海大学
出处 《中国机械工程》 EI CAS CSCD 北大核心 2007年第5期509-513,共5页 China Mechanical Engineering
基金 国家863高技术研究发展计划资助项目(2001AA422160 2004AA20110) 中国空间技术研究院创新基金资助项目(CAST200638)
关键词 超小型旋翼机 平面转弯运动 机理模型 神经网络补偿 混合模型 subminiature rotorcraft horizontal turning mechanism model NN- compensation hybrid model
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置] V235 [航空宇航科学与技术—航空宇航推进理论与工程]
  • 相关文献

参考文献8

  • 1陈皓生,陈大融.微型直升机动力学建模的研究现状[J].飞行力学,2003,21(3):1-5. 被引量：9
  • 2Johnson E, Debitetto P.for Small Autonomous Modeling and SimulationHelicopter Development[C]//Proceedings of the AIAA Modeling and Simulation Technologies Conference. New Orleans, LA,1997.41-51.
  • 3Mettler B, Tischler M, Kanade T. System Identification Modeling of a Small--scale Unmanned Rotorcraft for Flight Control Design[J].Journal of the American Helicopter Society, 2002, 47(1) : 50-63.
  • 4Kim S K, Tilbury D M. Mathematical Modeling and Experimental Identification of a Model Helicopter[J]. Journal of Robotic Systems, 2004, 21 (3) :95-116.
  • 5Bruce P B, Silvaetc J F. Maximum Like-hood Identification of a Rotor- wing RPV Simulation Model from Flight Test Data[C]//AIAA Atmospheric Flight Mechanics Conference and Exhibit,Boston, 1998:115-120.
  • 6Seiji H, Tomonori O. System Identification Experiments on a Large- scale Unmanned Helicopter for Autonomous Flights[C]//Proceeding of IEEE Conference on Control Applications. Anchorage, Alaska, USA. 2000:850-855.
  • 7Ma Guozhi, Saleh Z S. Intelligent Flight Control Design for Helicopter Yaw Control [C]//Proceedings of the Thirtieth Southeastern Symposium on System Theory. New York, USA:IEEE, 1998 : 184-188.
  • 8陈丽,龚振邦,刘亮.超小型旋翼机系统的输出跟踪控制器设计[J].系统仿真学报,2006,18(2):500-503. 被引量：2

二级参考文献29

  • 1Chen H S,Chen D R. System identification of a model helicopter's yaw movement based on an operator's control [J ]. Journal of Nonlinear Science, 2002,3 (3-4) :395-398.
  • 2Chen D R,Chen H S. Comparison between the system identification and the neural network methods in identifying a model helicopter's yaw movement[J]. Journal of Nonlinear Science, 2002,3 (3-4) :391-394.
  • 3John C Morris,Michiel van Nieuwstradt. Identification and control of a model helicopter in hover ['A 1. Proceedings of the American Control Conferences[C]. Baltimore, Maryland: Published by American Automatic Control Council,1994. 1 238-1 242.
  • 4Scott A Bortoff. The university of toronto RC helicopter:a test bed for nonlinear control,S. IEEE International Conference on Control Applications, 1999,1(1) :333-338.
  • 5Pallett T J,Ahmad S. Adaptive neural network control of a helicopter in vertical flight[J]. Aerospace Control Systems, 1993,2 (1), 264-268.
  • 6Gool V,P C V. Manual for the aerospatiale SA-330 Puma helicopter simulation software package [M].Deft : Deft University of Technology, 1992.
  • 7Hashimoto S, Ogawa T. System identification experiments on a large-scale unmanned helicopter for autonomous flight[A]. IEEE International Conference on Control Applications [C]. Anchorage, Alaska, USA..Published by IEEE,2000. 25-27.
  • 8Ma Guozhi,Saleh Zein-Sabatto. Intelligent flight control design for helicopter yaw control[A]. Proceedings of the Thirtieth Southeastern Symposium on System Theory[C]. NY, USA : Published by IEEE, 1998. 184-188.
  • 9Sabatto S Z,Zheng Y X. Intelligent flight controllers for helicopter control[J]. International Conference on Neural Networks,1997,2(7) :617-621.
  • 10Hadan-dong ,Saha-gu,Pusan. Attitude control of helicopter simulator using neural network based PID con-troller[A]. IEEE International Fuzzy System Conference Proceedings [C]. Seoul, Korea: Published by IEEE. 1999.22-25.

共引文献9

中国机械工程
2007年 第5期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部