1336F-B075-AN-EN-HAS2

1336F-B075-AN-EN-HAS2

1336F-B075-AN-EN-HAS2

1336F-B075-AN-EN-HAS2

1336F-B075-AN-EN-HAS2

为保证闭环系统的稳定性和良好的控制效果,实时控制器由一个模糊神经网络控制器NNC和一个鲁棒控制器RC组成。这两个控制器的输出信号通过加权综合后,作为系统的控制输入[8-10]，构成一个变鲁棒控制器u(k)：

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式中：un(k)为NNC的输出；ur(k)为鲁棒控制器的输出；γ为系统模型NNI的辨识精度，称为鲁棒因子。γ的表达形式为：

式中：τ为鲁棒因子的变鲁棒系数；Em为NNI输出与系统实际输出之差的平方。

3系统仿真研究

为了验证所提出的模糊神经网络控制算法的有效性，在MATLAB中创建模糊神经网络，利用隶属函数和模糊规则将抽象的模糊规则转化为模糊神经网络的训练样本，隐层采用在任意点可微的Tansig作为传递函数，输出层采用常用非负的Sigmoid函数。

采用常规PID控制和模糊神经网络控制时，系统阶跃信号的响应曲线。图3为常规PID控制器和模糊神经网络控制器对正弦信号跟踪的误差响应曲线，通过对比可知：模糊神经网络控制器在动态性能方面明显优于常规PID控制器，可将正弦响应误差从0.02 rad降至0.001 rad。

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