基于PID神经网络的智能车舵机控制系统研究

针对传统PID控制算法在电磁导航智能车舵机偏差处理中存在比例、积分、微分参数一经确定，不能在线调整，不具有自适应能力的缺点，提出了将PID神经元网络（ PIDNN）控制器及其算法应用到智能车的舵机控制系统中来对传统PID控制进行改进。 PIDNN控制系统不依赖智能车舵机的数学模型，能够根据控制效果在线训练和学习，调整网络连接权重值，最终使系统的目标函数达到最小来实现智能车的舵机控制。仿真测试表明，PIDNN控制系统的响应快，无超调，无静差，与传统PID控制算法相比，大大提高了智能车舵机控制系统的性能。

Study of intelligent vehicle servo control system based on PID neural network

In the intelligent vehicle steering deviation, the traditional PID control parameters of pro-portional, integral, differential algorithm is confirmed, can＆#39;t adjust online, do not have adaptive ability, put forward the PID neural network （ PIDNN） controller and its algorithm should be used in the servo control system of intelligent vehicle to improve the traditional PID control.PIDNN does not dependents on the mathematical model of the control system of the smart car servo, according to the control effect of on-line training and learning, adjusts the network connection weights, and makes the objective function of control system reached the minimum value to realize the intelligent vehicle servo control.Matlab simula-tion tests show that the PIDNN control system has merits of fast response, no overshoot, and no steady-state error.compared with the traditional PID control algorithm, greatly improves the performance of the intelligent vehicle servo control system.