| 倒立摆的PID神经元网络的间接控制系统的研究 |
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| 引用本文： | 葛动元,姚锡凡.倒立摆的PID神经元网络的间接控制系统的研究[J].机械设计与制造,2009(8). |
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| 作者姓名： | 葛动元 姚锡凡 |
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| 作者单位： | 1. 华南理工大学机械与汽车工程学院,广州,510640;邵阳学院机械与能源工程系,邵阳,422004
2. 华南理工大学机械与汽车工程学院,广州,510640 |
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| 基金项目： | 国家高技术研究发展计划(863计划)专项经费资助项目 |
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| 摘 要： | 摆系统是一个典型的强耦合、非线性、高阶次的不稳定系统.由于摆系统的数学模型是在忽略了次要因素的基础上得出来的,而实际上是一个非线性的系统,当系统受到外部的干扰时,这些次要因素的影响比较突出.实验采用PID神经元,设计一个神经网络间接自适应控制系统,首先用一个神经网络对摆系统模型进行辨识,辨识完成后,辨识模型的权值与隐层积分元的数值传递给具有同样结构的PID神经元的神经网络控制器,对倒立摆进行自适应控制.最后根据以上算法,采用6.0编写控制程序,实现对平面一级摆系统的实时控制.
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| 关 键 词： | 倒立摆 PID神经元 系统辨识 性能指标 神经网络间接控制 |
Research of PID neuron network indirect control system on pendulum |
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| GE Dong-yuan,YAO Xi-fan.Research of PID neuron network indirect control system on pendulum[J].Machinery Design & Manufacture,2009(8). |
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| Authors: | GE Dong-yuan YAO Xi-fan |
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| Affiliation: | 1Mechanical & Automotive Engineering School;South China University of Technology;Guangzhou 510640;China;2Department of Mechanical and Energy Engineering;Shaoyang University;Shaoyang 422004;China |
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| Abstract: | Pendulum is typical non-stability system which is strong coupled,non-linear and higher order.Because mathematics model of the pendulum system is obtained by neglecting some secondary fac-tors,that is nonlinear systems in fact,thus when pendulum is bear external disturbance,influence of secondary factors would be serious.PID neuron was adopted to design neural network indirect self-adaptive systems.First let a neural network to carry out model identification for pendulum systems,when model is identified,weig... |
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| Keywords: | Pendulum PID neuron Systems identification Indexes of performance Indirect control of neural network |
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