位置伺服系统的单神经元PID/CMAC控制研究

Research on composite control & simulation based on CMAC and PID for positioning servo system.

在分析了位置伺服控制系统基本原理和数学模型的基础上,提出了一种单神经元PID/CMAC复合控制算法和控制器的设计方法。用单神经元PID替代常规PID控制,由神经元来在线调整PID控制参数,利用CMAC神经网络的自学习和自适应能力,来完成系统的实时控制。该算法直接应用于位置伺服控制系统,仿真结果表明,与传统PID控制算法相比较,该复合控制算法增强了系统的控制精度,提高了系统的响应速度,具有较强的鲁棒性和抗干扰能力。

Based on analyzing rationale and mathematics model of a position servo control system,the paper introduces a new design of parallel control arithmetic and controller based on CAMC and PID.The method replaces PID by single neuron PID, achieves the on-line adjustment PID control parameter and realizes real time control on the system by the self-study and selfadaptive capability of CMAC neural network.This algorithm is applied in simulation research of the position servo control system. The result shows the system possesses the advantages of high precision,real-time standard,strong ability of anti-interfere and robustness.