神经元PID在风力摆控制系统中的应用  

Application of Neuron PID in Wind Pendulum Control System

作　　者：徐涢基[1] 方平[1] 李娜 谭尾琴 毛启宁 XU Yunji;FANG Ping;LI Na;TAN Weiqin;MAO Qining(Institute of Technology,East China Jiao Tong University,Nanchang 330100,China;Department of Safety Management,Jiangxi Police Academy,Nanchang 330103,China)

机构地区：[1]华东交通大学理工学院,江西南昌330100 [2]江西警察学院安全管理系,江西南昌330103

出　　处：《自动化仪表》2018年第5期48-51,共4页Process Automation Instrumentation

基　　金：江西省高等学校教学改革研究省级课题基金资助项目(JXJG-16-35-3)

摘　　要：针对传统的自动控制系统教学效果不够理想、自动控制教学模型复杂、PID参数整定经验方法效率较低和速度较慢的特点,设计了一款性价比高、调试方便的基于六轴重力及角加速度传感器MPU6050的风力摆控制系统。采用IAPSTC15W58S4作为微控制器,选用820空心杯电机作为动力源,神经元PID算法作为主控算法。通过给系统设定一个任务,空心杯电机驱动风力摆起摆,MPU6050传感器采集当前摆动角度。通过串口将角度返回给上位机Serial Chart软件显示,根据Serial Chart软件显示情况分析摆动规律,从而不断对P、I、D参数进行整定,使摆完成预定任务。实测结果验证了该神经元PID算法及P、I、D参数整定方法应用于风力摆系统的正确性及可行性。该风力摆控制系统必将在自动控制原理的教学及控制系统的设计方面具有重要的意义和价值。The teaching effect of traditional automatic control system is not ideal,and the automatic control teaching model iscomplex,the efficiency of PID parameter tuning experience method is low,the speed is slower,aiming at these disadvantages,awind pendulum control system based on six.axis gravity and angular acceleration sensor MPU6050 has been designed.The systemfeatures high cost effectiveness and ease to debug.In the system,IAPSTC15W58S4 is used as microcontroller,820 hollow cupmotor is selected as the power source,and the neuron PID algorithm is adopted as the main control algorithm.By setting a task forthe system,the wind pendulum is driven by the hollow cup motor,the MPU6050 sensor collects the current swing angle andreturns it to the SerialChart software in host computer through the serial port.According to the display of SerialChart software,thelaw of pendulum swing is analyzed and the parameters of P、I、D are continuously adjusted to complete the task.The measuredresults verify the correctness and feasibility of the neuron PID algorithm and the P、I、D parameter tuning method applied to thewind pendulum system.The wind pendulum control system will be of great significance and value in the teaching of automaticcontrol principle and the design of control system.

关 键 词：神经元PID算法 风力摆 空心杯电机 SerialChart软件 工业自动化 参数整定 

分 类 号：TH89[机械工程—仪器科学与技术] TP214[机械工程—精密仪器及机械]