基于PID的DSP无人侦察车伺服控制系统研究  

DSP servo control system of unmanned reconnaissance vehicle based on multi neuron PID algorithm

作　　者：岳光[1] 潘玉田[1] 张华君[2] YUE Guang;PAN Yu-tian;ZHANG Hua-jun(College of Mechanical and Electrical Engineering,North University of China,Taiyuan 030051,China;Heavy Mechanical Engineering Research Center of Education Department,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]中北大学机电工程学院,山西太原030051 [2]太原科技大学重型机械教育部工程研究中心,山西太原030024

出　　处：《重型机械》2018年第6期43-50,共8页Heavy Machinery

基　　金："973"国家重点基础研究发展规划前期项目(2011CB612204);山西省重点研发计划(指南)项目(201603D121040-1)

摘　　要：目前国内无人侦察车的伺服控制系统大多采用以单片机为核心的CPU,其运算速度慢、灵活性欠佳、且应用复杂算法的有着很大的局限性,不能满足复杂环境下对系统精确控制和快速响应。本文设计了一种基于多神经元PID算法的DSP无人侦察车伺服控制系统,其算法收敛速度快,且在线无人自主调节其伺服控制各参数,最后通过仿真及实验对比分析验证了该算法的有效性,为其以后应用于城市反恐、生化核武侦察、打击犯罪等提供信息支援,同时为军民融合系统创新的进一步实践提供理论基础和探索方法。At present,most of the servo control systems of unmanned reconnaissance vehicles in China adopt CPU with single-chip microcomputer as the core.The speed of operation is slow,the flexibility is poor,and the application of complex algorithms has great limitations,which cannot meet the requirements of accurate control and rapid response to the system in complex environment.In view of the above,this paper designs a DSP servo control system for unmanned reconnaissance vehicles based on multi-neuron PID algorithm.The algorithm has fast convergence speed and can adjust on-line the parameters of the servo control.Finally,it is verified that the algorithm is effective by simulation and experimental analysis,which can be applied to urban anti-terrorism,biochemical reconnaissance,and fighting criminals in the future.At the same time,it provides theoretical basis and exploration method for the further practice of military-civilian integration system innovation.

关 键 词：多神经元 PID 无人侦察车 DSP 伺服控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH701[自动化与计算机技术—控制科学与工程]