대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

Hybrid GA-PID WAVENET 제어기를 이용한 모형 헬리콥터 시스템의 자세 제어

Attitude Control of Helicopter Simulator System using A Hybrid GA-PID WAVENET Controller

  • 박두환 (동아대학교 대학원 전기공학과) ;
  • 지석준 (동아대학교 대학원 전기공학과) ;
  • 이준탁 (동아대학교 공과대학 전기전자컴퓨터공학부)
  • 발행 : 2004.06.01
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초록

The Helicopter Simulator System is non-linear and complex. Futhermore, because of absence of its accurate mathematical model, it is difficult to control accurately its attitudes such as elevation angle and azimuth one. Therefore, we proposed a Hybrid GA-PID WAVENET(Genetic Algorithm Proportional Integral Derivative Wavelet Neural Network)control technique to control efficiently these angles. The proposed Hybrid GA-PID WAVENET is made through the following process. First, the WAVENET fundamental functions are defined. And their dilation and translation values are adjusted by GA to construct the optimal WAVENET controller. Secondly, the proportional, integral, and derivative gain coefficients of PR controller are tuned optimally. Finally, WAVENET controller which has a good transient characteristic and GA-PE controller which has a good steady state characteristic is adequately combined in hybrid type. Through the computer simulations, it is proved that the Hybrid GA-PE WAVENET control technique has a more excellent dynamic response than PID control technique and GA-PID one.

키워드

참고문헌

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