| 神经元PID控制器在两轮机器人控制中的应用 |
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| 引用本文： | 孙亮,孙启兵. 神经元PID控制器在两轮机器人控制中的应用[J]. 控制工程, 2011, 18(1): 113-115 |
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| 作者姓名： | 孙亮 孙启兵 |
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| 作者单位： | 北京工业大学电子信息与控制工程学院,北京,100124 |
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| 基金项目： | 国家自然科学基金资助项目(60774077); 国家“863”计划资助项目(2007AA04Z226) |
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| 摘 要： | 针对两轮机器人传统PID控制器参数整定困难的问题,设计了一种神经元PID控制器.该控制器利用神经元的自学习和自适应能力,在线实时调整控制器各项参数.建立了两轮机器人的非线性模型,讨论了神经元PID控制系统的结构及其控制算法和各项控制器参数的学习算法.将设计的控制器其应用于两轮机器人的平衡控制中,并且与传统PID控制器进...
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| 关 键 词： | 两轮机器人 自适应 神经元PID |
Application of Neural PID Controller to Two-wheeled Robot Control |
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| SUN Liang,SUN Qi-bing. Application of Neural PID Controller to Two-wheeled Robot Control[J]. Control Engineering of China, 2011, 18(1): 113-115 |
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| Authors: | SUN Liang SUN Qi-bing |
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| Affiliation: | SUN Liang,SUN Qi-bing(College of Electronic Information and Control Engineering,Beijing University of Technology,Beijing 100124,China) |
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| Abstract: | To the problem that the parameters of classical PID controller two-wheeled robots cannot be easily adjusted,a PID controller based on neural network is presented.By making use of the self-learning and self-adaptive ability of neuron,the parameters of the controller can be easily adjusted on-line in real-time.The nonlinear model of two-wheeled robot is built,and the controll algorithm and the parameter algorithm learn are discussed.The controller is applied to the balancing control of two-wheeled robot and a... |
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| Keywords: | two-wheeled robot self-adaptive PID controller |
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