单神经元PID倒立摆系统

为解决双PD倒立摆控制器参数不可调的难题，利用单神经元PID控制算法简单、权值可调的特点，针对倒立摆系统，设计出基于小车位移和摆杆摆角两个回路的单神经元PID控制器。通过仿真实验研究，证明了该控制方案的可行性和有效性。最后，将该控制方案与目前常使用的双PD控制及LQR控制进行了比较。

Inverted Pendulum System Based on Single Neuron PID Control

In order to solve the tough problem that the parameters of double PD control based inverted pendulum controller couldn＇t be adjusted, a controller of inverted pendulum system has been designed based on two-loop single neuron PID control mode of car displacement and pendulum angle by making use of the features of single neuron PID, such as simple control algorithm and adjustable weights. The simulation experiment has proved its feasibility and validity. Besides, a comparison has been made between the above scheme of single neuron PID and the current frequently used schemes, the double PD control and LQR control.