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为解决无人机舵面负载模拟系统中非线性和多余力矩扰动问题,利用小脑模型神经网络非线性逼近能力强、结构简单、适于实时控制等特点,采用小脑模型和传统PD(Proportional-Derivative)控制结合的复合控制策略,由小脑模型实现前馈控制,PD控制实现反馈控制,以保证在系统运行各阶段的控制精度.分析讨论了复合控制的不稳定性问题,研究了基于可信度分配和学习率自适应调整的改进型小脑模型的应用情况,提出一种适用于单输入单输出系统的简化小脑模型复合控制设计方法.仿真结果表明该方法有效地解决了小脑模型和PD复合控制的不稳定问题,改善了系统动态加载性能,并具有很好的抗干扰性能.
In order to solve the problem of nonlinear and extra torque disturbance in the simulation system of UAV load on the rudder surface, this paper uses the cerebellar model and the traditional PD (Proportional-Derivative) ) Control combined with the composite control strategy, the feedforward control is implemented by the cerebellum model and the PD control is implemented by feedback control so as to ensure the control accuracy in each phase of the system operation. The instability problem of compound control is analyzed and discussed. Distribution and learning rate of adaptive adjustment of the improved application of the cerebellum model proposed a single input and single output system for simplified cerebellum model composite control design method.The simulation results show that the method effectively solves the cerebellar model and PD compound control Of instability, improve the system dynamic loading performance, and has good anti-jamming performance.