灭火智能车辆PID控制方法研究  

RPID Control Method of the Fire-fighting Intelligent Vehicle Based on BP Neural Network

作　　者：马育林[1] 吴青[1] 吴勇[1] 王维锋[1] 

机构地区：[1]武汉理工大学水路公路交通安全控制与装备教育部工程研究中心,武汉430063

出　　处：《交通信息与安全》2009年第1期19-22,共4页Journal of Transport Information and Safety

基　　金：湖北省自然科学基金(批准号:2007aba019)资助

摘　　要：为满足灭火智能车辆在火灾现场所需的精确运动要求和技术性能,充分利用BP神经网络能够逼近任意非线性系统的优点,将BP神经网络和PID控制相结合,把训练后的网络输出作为PID控制器输入,并不断调整其P、I、D参数,进而调整控制器的输出电压以控制灭火智能车辆的速度。For the full use of BP neural network, which has excellent performance of approximating nonlinear systems, the neural network and PID control were integrated in order to meet movement and performance requirements of the fire-fighting intelligent vehicle on the fire site. The output of the trained network was put as input of the PID controller, and its P, I, D parameters were adjusted. Then, the output voltage of the controller was adjusted to control the speed of the fire-fighting intelligent vehicle. The accuracy and effectiveness of the control method are confirmed by the computer simulation results.

关 键 词：灭火智能车辆 BP神经网络 PID控制器 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]