基于模糊单神经元PID控制在煤炭分拣机器人中的应用
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摘要
针对传统的PID算法在煤炭分拣机器人控制系统中由于其运作过程中出现的时变负载和非线性等问题,系统无法得到良好的性能指标。为此,提出了改进的单神经元PID控制算法来代替传统的PID控制,同时为了进一步提高单神经元PID控制的动静态性能,在该算法的基础上,引入了模糊控制来整定单神经元PID的输出增益。建立煤炭分拣机器人控制的Simulink仿真模型。仿真结果表明:模糊单神经元PID控制具有响应速度快、控制精度高且抗干扰性和鲁棒性强等优点。
The traditional PID algorithm cannot get good performance index because of the time varying load and nonlinearity in the control system of coal sorting robot.For this,put forward the improved single neuron PID control algorithm to replace the traditional PID control,at the same time in order to further improve the static and dynamic performance of the single neuron PID control,on the basis of the algorithm,the fuzzy control is introduced to gain the whole order neuron PID output.The Simulink simulation model of coal sorting robot control.The simulation results show that the fuzzy neuron PID control has the advantages of fast response speed,high control precision,strong anti-interference and robustness.
The traditional PID algorithm cannot get good performance index because of the time varying load and nonlinearity in the control system of coal sorting robot.For this,put forward the improved single neuron PID control algorithm to replace the traditional PID control,at the same time in order to further improve the static and dynamic performance of the single neuron PID control,on the basis of the algorithm,the fuzzy control is introduced to gain the whole order neuron PID output.The Simulink simulation model of coal sorting robot control.The simulation results show that the fuzzy neuron PID control has the advantages of fast response speed,high control precision,strong anti-interference and robustness.
引文
[1]葛平平,黄友锐,曲立国,等.膜计算优化PID控制在煤炭分拣机器人中的应用[J].煤炭工程,2014,46(8):139-142.
[2]刘金琨.先进PID控制MATLAB仿真[M].2版.北京:电子工业出版社,2004.
[3]王振臣,赵莎,张聪,等.基于改进单神经元PID控制的主动悬架系统研究[J].模糊系统与数学,2014,28(3):89-96.
[4]郑津津,胡霞.改进单神经元PID在矿井提升机中的应用[J].煤矿机械,2014,35(9):205-208.
[5]滕玺,米双山,张王卫.随动定向战斗部模糊-单神经元PID控制[J].计算机仿真,2015,32(3):38-41,99.
[6]陈杰,陈冉,陈家伟,等.变速风力发电机组的模糊-单神经元PID控制[J].中国电机工程学报,2011,31(27):88-94.
[7]赵少林,程杰.模糊PID控制在煤炭分拣机器人控制系统中的应用[J].煤炭技术,2013,32(6):160-162.
[2]刘金琨.先进PID控制MATLAB仿真[M].2版.北京:电子工业出版社,2004.
[3]王振臣,赵莎,张聪,等.基于改进单神经元PID控制的主动悬架系统研究[J].模糊系统与数学,2014,28(3):89-96.
[4]郑津津,胡霞.改进单神经元PID在矿井提升机中的应用[J].煤矿机械,2014,35(9):205-208.
[5]滕玺,米双山,张王卫.随动定向战斗部模糊-单神经元PID控制[J].计算机仿真,2015,32(3):38-41,99.
[6]陈杰,陈冉,陈家伟,等.变速风力发电机组的模糊-单神经元PID控制[J].中国电机工程学报,2011,31(27):88-94.
[7]赵少林,程杰.模糊PID控制在煤炭分拣机器人控制系统中的应用[J].煤炭技术,2013,32(6):160-162.