Neural Network Output Feedback Adaptive Robust Control Method Based on Launch Platform
An adaptive and robust neural network technology, applied in the field of motor servo control of the launch platform, can solve problems such as difficulty in obtaining the true value of the state quantity
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[0109] The simulation parameters are: inertial load parameter J eq =0.01kg·m 2 , torque amplification factor k u =5, viscous friction coefficient B eq =1.025N·s / m, constant interference d n =1.525N.m, pitch and azimuth coupling coefficient c 1 =0.14N.m(rad / s),c 2 =0.13N.m(rad / s), time-varying interference upper bound δ=0.6N·m; The upper bound of δ 2 =0.3N.m; θ min = [0, 0.002, 0.22] T ; θ max =[0.215, 0.01, 0.3] T ; Time-varying interference f(t)=0.5sin(0.5πt)(N m); Position motion equation θ=0.1sin(πt)[1-exp(-0.01t)](rad) in pitch direction; position angle input Signal Take observer parameter kd=20, k=400, kp=200, ko=1.1; F=diag[10,10], controller parameter k 1 =50,k 2 =1,,λ 0 =200,λ 1 =1500,λ 2 = 2000; θ 1n = 300; θ 2n = 20, the selected nominal value of θ is far from the true value of the parameter, in order to examine the effect of the adaptive control law.
[0110] from above Figure 4-Figure 11 It can be seen that the present invention uses the neur...
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