单神经元PID在多电机控制中的应用

Application of Single Neuron PID in Multi-motor Control

本文通过对多电机同步控制的原理及其特点分析,设计了具有自学习和自适应能力的单神经元PID同步控制器,建立了单神经元PID控制规则,提出了多电机同步控制的单神经元PID学习算法。系统仿真结果表明,运用单神经元自适应PID控制器能有效实现多电机同步控制,收敛速度较快,鲁棒性较好,且抗干扰能力强。最后,基于MCF5235微控制器,通过VxWorks实时嵌入式操作系统,应用于四轴同步控制系统,结果表明单神经元自适应PID同步控制器能大大增强系统的动态性能,有效缓解负载带来的同步误差,在相同扰动情况下,该方法能更好的使多电机以一定速度同步运行。

According to the principles and characteristics of the multi-motor synchronous control,a single neuron adaptive PID control and synchronous controller with the self-leaning and adaptive ability was designed.Control rules were set and the single neuron adaptive control and PID control learning algorithm was proposed.System simulation results showed that the single neuron adaptive PID controller was able to control multi-motor synchronous control system effectively,with higher convergence speed,better robustness and stronger anti-jamming ability.Finally,based on MCF5235 micro-controller,the controller with VxWorks real-time embedded operating system,was used in four-axis simultaneous control system.Results showed that system dynamic performance was enhanced greatly by the single neuron adaptive PID synchronous controller;synchronization errors caused by the load were alleviated effectively.In the same circumstances,the motor can operate synchronously better with certain speed by this method.