基于神经元的倒立摆双闭环PID控制  

Neuro-PID Double-loop Control for Single Inverted Pendulum

作　　者：李宏伟[1] 李新飞 吕开东 王宗义[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《弹箭与制导学报》2005年第SC期672-676,共5页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：研究了神经元PID控制器的设计,通过对控制对象的模拟设计,简化了控制器及控制系统的设计过程。在此基础上.提出一种将神经元PID与常规PID相结合的控制方法,并给出了系统参数的整定方法,降低了参数调整的复杂程度,且有效的解决了其它方法中出现权值修正错误的问题。最后,将其应用于单输入多输出系统——倒立摆的稳定。仿真实验及实际系统实验表明,文中提出的控制方法实时性好,鲁棒性强,适于实际应用。This paper has researched Neuto-PID controller and simplified the design process of control system and con- trollers by simulative design of the control object.A control method which syncretizes Neuro-PID and normal PID has been presented.At the same time,the method of parametric tuning has given.The above design deduced the complexity of parametric tuning and solved the problem of wrong neuro-weights lies in other methods.At last,the method was applied to stabilization of the inverted pendulum,a single input and multi-output system.The simulation results on computer and experiments on real system show real time ability and robust of the proposed approach.So the method can be applied to the real systems.

关 键 词：倒立摆 神经元 PID 参数整定 闭环控制 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]