基于神经元自适应PID的超声波电机速度位置控制

A Neuron Adaptive PID Speed and Position Control for Ultrasonic Motors

超声波电机是强非线性时变系统,用常规的PID难以取得满意的效果。针对超声波电机的速度和位置控制,提出了神经元自适应PID算法。由于神经元自适应PID可以在线调整其参数值,因此当电机运行情况发生变化时可以通过改变控制参数来实现速度和位置的快速跟踪。实验表明,使用神经元自适应PID算法对超声波电机进行速度和位置控制,可以达到快速响应和高精度的控制效果。

Ultrasonic motor （USM） is a system of severe non-linearity and parameter variations. Due to that, common PID control methods can＇t meet practical demands. In this paper, a novel control system is introduced, which is based on neuron adaptive PID and combined with phase difference and frequency control. Because neuron PID controller can change its parameters online when operation conditions are changed, it can also change its control characteristic automatically to realize speed and position control. The experiment results show that USM can complete rapid response speed and high precise position control while using neuron PID controller.