机械人移动轨迹的智能PID控制  

The Intelligence PID Control of the Ambulation Track of the Robot

作　　者：周巨青 ZHOU Ju-qing （Department of Mechanical and Electrical Engineering, Guangzhou Kangda Vocational Technical College, Guangzhou 511000, China）

机构地区：[1]广州康大职业技术学院机电工程系,广东广州511000

出　　处：《电脑知识与技术》2014年第11期7445-7447,共3页Computer Knowledge and Technology

摘　　要：过程控制系统广泛的采用PID控制,它的系统直接关系到生产过程的平稳和产品的最终质量,因而其优化设计十分重要。常规PID控制得到了广泛的应用,但是不难满足高精度要求。智能PID控制吸取了智能控制和常规PID控制的优点,能够满足很多场合的高精度的要求。用于机械人移动控制取得了很好的效果。采用神经网络,可实现对机器人动力学方程中未知部分的精确逼近,从而实现无需建模的控制。PID control is widely used in proces control systems. The performance of the controllers is dirrectly related to the stability of the processes and the quality of product, so it is very valuable for their optimai design.The normal regulations PID control have already been applied extensively,but can＇t satisfy a high accuracy request.The intelligence PID control absorb the advantage of the intelligence control and the normal regulations PID control,can satisfy the request of the high accuracy of a lot of situations.Used for the robot ambulation control obtained good result.Adopt the nerve network, can carry out to approach to the precision that didn＇t know part, carried out and don＇t need a control of set up the mold thus.

关 键 词：PID控制 智能PID控制 移动机械人 神经网络 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论;自动化与计算机技术—计算机科学与技术]