三自由度直升机模型系统是一个典型的非线性、高阶次、多变量、强耦合的多入多出系统，通过数学推导很难获得其逆模型，利用神经网络对任意连续函数很强的逼近能力与逆系统的思想相结合的方法获取三自由度直升机模型系统的逆模型，同时也将一个多入多出、强耦合的非线性系统转化为几个相对独立的单入单出的线性系统。采用内模控制的方法设计控制器，实现对高度角和横侧角的跟踪控制，MATLAB仿真结果表明该方法具有较好的控制效果，半实物仿真也说明该方法的可行性。%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.
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