摘要
介绍了设计的三自由度直升机模型的系统构成,建立了系统的俯仰轴控制模型,并依此设计了俯仰轴的状态反馈跟踪控制器与神经网络自适应控制器。为实现设备的在线实时控制编写了基于VC的上位机软件用于控制设备、调试参数以及观察系统的姿态跟踪控制效果。基于Matlab将两种控制器仿真后在实验平台上验证并对比分析,实验结果表明,神经网络自适应控制器能更稳定更好地实现三自由度直升机的姿态跟踪控制。
This paper introduce the system constitution of 3 DOF helicopter,establish the con-trol model of pitch axis,and design the state feed-back tracking controller and the neural network a-daptive controller of the pitch axis.In order to realize the on line real time control,we programmed a software of the host computer based on VC.It can be used to control equipment,debug parameters and observe the tracking result of the system. The two controllers is simulated based on Matlab and verified on the experimental platform.By contrast,the results demonstrate that the neural net-work adaptive controller can achieve more stable tracking effect.
出处
《机械与电子》
2015年第5期69-72,共4页
Machinery & Electronics
