基于神经元PID控制器的远程实验系统设计

Design of remote experiment system based on neuron PID controller

针对目前远程实验系统中网络延时的不确定对实验结果产生影响的问题,设计了基于神经元PID控制器的远程实验系统。研究了PID-NN神经网络控制器的算法并分析了算法的收敛性和稳定性,给出了远程实验系统的客户/服务器端网络通信及控制的实现方法。最后对实验室中机械控制臂进行了响应对比试验,实验结果表明,基于神经元PID控制器实验系统的响应超调量、稳态误差及响应时间明显小于普通PID控制方法的实验系统,证明了算法的正确性。

Since the uncertainty of network delay in remote experiment system can impact on the experimental results,the remote experiment system based on neuron PID controller was designed. The algorithm of PID-NN neural network controller is studied. Its convergence and stability are analyzed. The implementation method of the system′s network communication and control in client/server sides is given. The response contrast test for the machinery control arm was conducted in the laboratory. The experimental results show that the response overshoot,steady-state error and response time of the experiment system based on neuron PID controller are smaller than those of the experiment system based on common PID control method. The correctness of the algorithm was proved.