最优PID控制器在智能人工腿中的应用  

Optima lPID Controller's Application to Intelligent Artificial Leg

作　　者：贺光辉[1] 谭冠政[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《计算机测量与控制》2007年第7期887-889,共3页Computer Measurement &Control

基　　金：国家自然科学基金资助项目(50275150);高等学校博士学科点专项科研基金资助项目(20040533035)

摘　　要：以蚁群算法为基础,提出了一种新的非线性PID控制器及其参数优化设计方法;该控制器是基于PID控制器各增益参数与误差信号之间呈现非线性关系,根据一般控制系统的阶跃响应曲线,在不同响应时间阶段PID三个增益调节参数的理想变化情况,提出根据控制信号与误差、误差变化率之间的调节规律,拟合一组增益参数的非线性函数,并利用蚁群算法搜索出一组最优的非线性PID参数,构造最优非线性PID控制器,称为AS-NLPID控制器;该控制器已被用于CIP-I智能人工腿;仿真实验证实AS-NLPID控制器能有效地控制CIP-I智能人工腿,并具有良好的动态和稳态性能。A novel design for the optimal nonlinear PID controller and its parameters optimizing method are proposed based on Ant System （AS） algorithm. The relationship between the error signal and gain parameters of PID controller is nonlinear, and , a normal controlled system＇ s step response figure , under the condition of ideal change of the three PID gain parameters in the different time , PID con troller. Basing on the tuning law between the control signal and error, and its variation rate, fitting and constructing the nonlinear function of each gain parameter, meanwhile, by means of the ant algorithm , searching for a group of optimal nonlinear PID parameter constructing the optimal PID controller. The de.signed controller is called the AS - NLPID controller. This controller was used to control the intelligent CIP - I leg. The simulation experiments demonstrated that it can control the motor system of CIP - I leg effectively, it was verified that the AS- NLPID controller had better control performance, transient and steady response performance.

关 键 词：非线性PID控制器 蚁群算法 最优控制 CIP-I智能人工腿 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]