| BP神经网络整定的PID在机器人轨迹跟踪中的应用 |
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| 引用本文： | 张海荣,舒志兵.BP神经网络整定的PID在机器人轨迹跟踪中的应用[J].电气传动,2007,37(9):36-39. |
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| 作者姓名： | 张海荣 舒志兵 |
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| 作者单位： | 南京工业大学;南京工业大学 |
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| 摘 要： | 充分利用BP神经网络能够逼近任意非线性系统的优点,将BP网络和PID控制相结合,解决了多关节机器人的运动轨迹跟踪问题.采用这种方法,可以在线实时调整PID控制器的参数,使其达到最优状态,克服了完全依靠经验离线调整PID参数的缺点,使系统具有更好的鲁棒性和自适应性,其输出也可以通过在线调整达到预期的控制精度.仿真实验证实了该控制策略的正确性和有效性.
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| 关 键 词： | 机器人轨迹跟踪 BP神经网络 PID控制 |
| 修稿时间： | 2006-07-13 |
Application of the Combination of BP Neural Network and PID Controller in the Trajectory Tracking of the Manipulators |
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| Zhang Hairong,Shu Zhibing.Application of the Combination of BP Neural Network and PID Controller in the Trajectory Tracking of the Manipulators[J].Electric Drive,2007,37(9):36-39. |
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| Authors: | Zhang Hairong Shu Zhibing |
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| Affiliation: | Zhang Hairong Shu Zhibing |
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| Abstract: | Taking full advantage of the BP neural network which can approach any non-linear system,a method of combining BP neural network with PID controller was proposed and applied to the NUT manipula- tor's tracking control.Based on the method,PID parameters can be rectified on line in the system,which makes the parameters achieve optimized values.With the optimized parameters,the control system can be more robust and more adaptive.The validity of the adoption is verified by numerical simulation. |
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| Keywords: | robot trajectory tracking BP neural network PID control |
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