关键词: 自动控制技术, 小脑模型神经网络控制器（CMAC）, 复合控制, 天线指向, 摩擦补偿

Abstract:

The characteristics and main factors of antenna pointing and tracking system for tracking performance are analyzed, and the mathematic model is establish for the system. According to the system characteristics, the design process of Cerebellar Model Articulation Controller (CMAC) network combined with PID control method is described. The advantages of the proposed method are analyzed. This method uses the fast self-learning and precise approaching of CMAC networks as the feed-forward control to get the object model; then together with the traditional PID control method it can have the advantages of fast response, high precision and robustness. Simulation results show that the proposed control method can effectively inhibit friction torque and provide stable output and robustness. The tracking precision of the proposed control method is one order of magnitude higher than that of PID control method alone.

Key words: automatic control technology, cerebellar model articulation controller(CMAC), compound control, antenna direction, friction compensation