单神经元PID倒立摆系统及其仿真研究

Inverted Pendulum System Based on Single Neuron PID Method and its Simulation

为解决双PD倒立摆控制器参数不可调的难题,利用单神经元PID控制算法简单、权值可调的特点,针对倒立摆系统,设计出基于小车位移和摆杆摆角两个回路的单神经元PID控制器。通过仿真实验研究,证明了该控制方案的有效性和可行性。最后,将该控制方案与目前通常使用的双PD控制及LQR控制进行了比较。

To the controller of inverted pendulum based on double PD control strategy,its parameters couldn＇t be adjusted.In order to solve the problem,a controller of inverted pendulum system was designed based on two-loop single neuron PID method.The strategy made use of the advantages of single neuron PID,such as control algorithm was simple and its weights could be adjustable.By simulation studies,the feasibility and validity were proved.Finally,the scheme of single neuron PID compared with commonly used means：double PD control and LQR control.