单神经元PID在绞车控制系统中的应用  

Application of Single Neuron PID in Winch Control System

作　　者：徐国华[1] 李祖佳[1] 贺磊[1] 曾志林[1] 

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430074

出　　处：《控制工程》2013年第1期42-45,共4页Control Engineering of China

基　　金：国家自然科学基金(51079061)

摘　　要：水下及水面浮动平台是海洋开发研究中常见的支撑平台,它的平稳性对平台上设备的正常工作有极其重要的意义,由于水下环境复杂,受水流等不确定因素的影响,平台难以保持平稳状态,这就要求控制系统具有较强的抗干扰性和较高的控制精度。基于某水下试验平台的姿态控制系统,采用液压马达驱动绞车控制张力腿,分析并建立液压系统模型,结合神经网络控制和PID控制的优点,设计单神经元PID控制器,利用输入输出的误差,通过带监督的Hebb学习法则对权值进行实时修正,这种控制器不仅结构简单,且具有较好的自适应能力和鲁棒性。利用计算机仿真技术,在Malab中用simulink仿真平台,结合S函数进行建模仿真,得出仿真效果曲线图,结果表明单神经元PID控制器具有良好的控制效果和适应性。Underwater and surface floating platform is a common support platform in marine research and development, its stationary plays a very important role in the work of the equipment on the platform. Due to the complicated evironment in the water and the various unsure factor＇s effect, The platform is hard to keep stable, This require the control system must have strong ability of Anti-jamming and high-precitsion control. Based on a gesture control system of a Underwater experimental platform, use hydraulic motor drive winch to control the tension leg. After analysised and established the hydraulic model of the systerm, a single neuron PID controller has heen designed to control, by using the error of the input and output and adjusting the value of the weights the contoller can modify its control parameters by itself, this kind of controller not only has the simple structure, but also has good adaptive ability and robustness. Con- nected with the computer simulation technologh, using the simulink model and S-function in Matlab, The simulation results showes that the single neuron PID controller has good control effect and adaptability

关 键 词：浮动平台 单神经元 PID HEBB学习规则 SIMULINK仿真 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]