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Alternative TitleDesign of On2l ine Learning Based Error BackPropagation Algorithm in Simulation Servo System
段海滨; 王道波; 于秀芬; 朱家强; 北京8701信箱
Source Publication中南大学学报:自然科学版
Keyword误差反传算法 bp神经网络 仿真伺服系统 在线学习 无人机
Other AbstractBased on t he driving model of unmanned aerial vehicle (UAV) simulation servo system ,a novel scheme based on on-line learning error back propagation algorithm( EBPA) was proposed in designing UAV simulation servo system. The idea of back p ropagation (BP) neural network was adopted in t he proposed algorit hm. The on-line learning st rategy of EBPA wit h two inp ut s ,single hidden layer and two outputs was applied in this scheme. The inp ut layer included given signal and feedback digital position;t he hidden layer had 12 nerve cells;the outp ut layer had two output nerve cells,which were trained digital position and velocity ,and self-tuning proportional-integral2differential ( PID) cont rol scheme was adopted in the position cont roller;the digital/ana-log(D/A)transformed velocity signal was transmitted to velocity cont roller.The resolution error was 0.05,and t he number of training samples was 30.Finally,Hardware-in-loop real-time simulation experiment s for a type of fiber optic gyro were conducted in the newly designed UAV simulation servo system.Simulation result s illust rate that t he UAV simulation servo system using on2line learning based EBPA has good ast ringency.quick response and st rong robust .Key words:error back propagation algorit hm ; back propagation neural network;simulation servo system;on-line learning;unmanned aerial vehicle
Indexed ByCSCD
Funding Project中国科学院空间科学与应用研究中心
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Document Type期刊论文
Corresponding Author北京8701信箱
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GB/T 7714
段海滨,王道波,于秀芬,等. 基于在线学习误差反传算法的仿真伺服系统设计[J]. 中南大学学报:自然科学版,2005,36(2):267-271.
APA 段海滨,王道波,于秀芬,朱家强,&北京8701信箱.(2005).基于在线学习误差反传算法的仿真伺服系统设计.中南大学学报:自然科学版,36(2),267-271.
MLA 段海滨,et al."基于在线学习误差反传算法的仿真伺服系统设计".中南大学学报:自然科学版 36.2(2005):267-271.
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