水下焊缝跟踪单神经元自适应PID控制与参数优化  

SINGLE NEURON SELF-ADAPTIVE PID CONTROL AND PARAMETER OPTIMIZATION FOR UNDERWATER SEAM TRACKING

作　　者：祝顺风 文雅珊 朱汉阳 ZHU Shun-feng;WEN Ya-shan;ZHU Han-yang(Ji’an Vocational of Technical College,Ji’an,Jiangxi 343000,China;School of Mechanical and Electrical Engineering,Jinggangshan University,Ji’an,Jiangxi 343009,China)

机构地区：[1]吉安职业技术学院,江西吉安343000 [2]井冈山大学机电工程学院,江西吉安343009

出　　处：《井冈山大学学报（自然科学版）》2022年第2期94-97,共4页Journal of Jinggangshan University (Natural Science)

基　　金：江西省教育厅科技计划项目(GJJ209938)。

摘　　要：水下焊缝跟踪过程复杂,不确定因素多,并且焊接过程具有非线性特点,传统PID控制效果不理想。本文提出了单神经元自适应PID控制器,通过神经元的自学习能力,能够在线自适应调整PID参数,同时利用差分进化算法对单神经元自适应控制器的参数进行优化。经仿真结果可知,该单神经元自适应PID控制器响应速度快,精度高,控制效果好。The underwater seam tracking process is complicated with many uncertain factors,and the welding process is nonlinear,the traditional PID control effects are unsatisfactory.A single neuron adaptive PID controller is proposed.The PID parameters can be adjusted adaptively online by the self-learning ability of the neuron,and the parameters of the single neuron adaptive PID controller are optimized by differential evolution algorithm.The simulation results show that the single neuron adaptive PID controller has fast response speed,high precision and good control effects.

关 键 词：水下焊缝跟踪 单神经元PID控制 差分进化算法 仿真 

分 类 号：TG434[金属学及工艺—焊接]