基于改进单神经元PID算法的平衡小车控制  

Balancing trolley control based on improved single neuron PID algorithm

作　　者：项思哲 周依涛 郑炜炀 高金凤[1] Xiang Sizhe;Zhou Yitao;Zheng Weiyang;Gao Jinfeng(School of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江理工大学机械与自动控制学院,杭州310018

出　　处：《电子测量技术》2021年第13期68-72,共5页Electronic Measurement Technology

基　　金：浙江省自然科学基金(LY20F030015)项目资助。

摘　　要：针对平衡小车强耦合、非线性和自然不稳定等特点以及常规PID控制时存在的平衡困难、可靠性低等缺陷,将常规的PID控制与单神经元控制思想相结合,通过平衡小车装置输入的误差值,根据学习规则自我学习、在线调整各控制环节参数并进行比例、积分和微分控制,再由模糊控制器对其增益系数进行自整定,以此提升系统的自适应能力。最后,通过MATLAB仿真,将所提出的控制器与常规PID控制器进行对比,验证了所提出方法的优越性,并得出改进后的单神经元PID控制器具有较好的跟踪性能和抗干扰能力。In view of the characteristics of strong coupling, non-linearity and natural instability of the balancing car and the defects of the conventional PID control, the balance is difficult and the reliability is low. Analyses the conventional PID control and single neuron control, the combination of value through balancing the car unit of input error, according to the rules of self learning, adjust each parameter and control links in proportion, integral and differential control, again by self-tuning fuzzy controller on the gain coefficient, thus improve the adaptive ability of the system. Finally, through MATLAB simulation, the controller proposed is compared with the conventional PID controller, which verifies the superiority of the proposed method. And the improved single neuron PID controller has better tracking performance and anti-interference capability.

关 键 词：平衡小车 PID控制器 改进单神经元PID控制器 MATLAB仿真 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]