基于CMAC与PID并行控制的舵伺服系统的优化设计

Optimization Design of the Servo System of the Rudder Based on CMAC & PID Side by Side Control

摘要:

针对导弹飞行中的舵伺服系统所存在的不确定性和非线性时变等特点,采用常规控制系统难以适应这种不确定性,文中提出采用现代控制理论与经典相结合的方法——自适应神经网络CMAC与PID并行控制对舵机伺服系统进行优化设计。首先,在分析舵系统基础上,设计出了具有一定适应性的舵伺服系统的总体方案；然后,建立了基于CMAC与PID并行控制的舵系统控制器；最后,经MATLAB仿真,结果表明并行控制能够较好适应多种不确定性,并能够快速准确的对舵机进行跟踪控制。

Abstract:

To the uncertainty and nonlinear characteristic of rudder servo system in missile flying, and the routine control system is difficult to adopt to this kind of uncertainty, thus in this paper, the method was put forward that modern control theory and classics combine together— the side by side control of self-adaptation neural network—CMAC and PID to carry on optimization design to the servo system of the rudder machine. At first, On the basis of analyzing rudder servo system, the overall scheme of rudder servo system with sure adaptability was designed, and then the systematic controller of rudder controlled on the basis of CMAC and PID side by side control was designed. In the end, emulations were done by MATLAB, and the result indicated that the side by side control could adapt to many kinds of uncertainty better, and the system could accurate and fast follow and control the rudder machine.