关键词: 三自由度直升机, 逆系统, 径向基神经网络, 内模控制

Abstract: The 3-DOF helicopter model system is a typical non-linear, higher order, multi-variable, strong coupling of MIMO system. It is difficult to obtain the inverse model derived by the mathematical theory. It combines strong approximation ability for any continuous function of neural network with the method of inverse system to solve the difficult problem of inverse model acquisition, as well as transforms the MIMO and strongly coupled nonlinear system into several relatively independent SISO linear system. It designs the internal model control controller, and completes the tracking control of the elevation angle and lateral angle. MATLAB simulation results show that the method has good control effect, and semi physical simulation also shows the feasibility of the method.

Key words: 3-DOF helicopter, inverse system, radical basis function neural network, internal model control