基于神经元自适应PID的超声波电机速度位置控制  

A Neuron Adaptive PID Speed and Position Control for Ultrasonic Motors

作　　者：傅平[1] 郭吉丰[1] 丁敬[1] 周广睿[1] 沈润杰[1] 

机构地区：[1]浙江大学电气工程学院,杭州310027

出　　处：《电工技术学报》2007年第2期28-33,共6页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(50505041;60575059);浙江省重点科技计划项目(2004C21917);浙江省教育厅重点资助项目(G20040103)

摘　　要：超声波电机是强非线性时变系统,用常规的PID难以取得满意的效果。针对超声波电机的速度和位置控制,提出了神经元自适应PID算法。由于神经元自适应PID可以在线调整其参数值,因此当电机运行情况发生变化时可以通过改变控制参数来实现速度和位置的快速跟踪。实验表明,使用神经元自适应PID算法对超声波电机进行速度和位置控制,可以达到快速响应和高精度的控制效果。Ultrasonic motor （USM） is a system of severe non-linearity and parameter variations. Due to that, common PID control methods can＇t meet practical demands. In this paper, a novel control system is introduced, which is based on neuron adaptive PID and combined with phase difference and frequency control. Because neuron PID controller can change its parameters online when operation conditions are changed, it can also change its control characteristic automatically to realize speed and position control. The experiment results show that USM can complete rapid response speed and high precise position control while using neuron PID controller.

关 键 词：超声波电机 神经元PID控制器 控制系统 

分 类 号：TM301[电气工程—电机]