神经元PID控制器在两轮机器人控制中的应用

文章在此对两轮机器人的控制进行研究,主要目的是针对PID控制器参数较为困难的问题进行解决。文章在此设计了一种新的方法,构建神经元PID控制器。通过利用该控制器,神经元的自适应能力与自学习能力得到了极大的改善。可以对控制器的各项参数进行在线的实时调整,进而针对两轮机器人构建了非线性模型,对神经元PID控制系统进行了讨论,然后对其算法进行了探讨,并分析了该项控制器的参数,进而在两轮机器人的平衡控制中应用文章所设计的控制器。最后,将文章设计的控制器与传统的控制器进行对比,通过仿真模拟增强了该控制器的有效性与准确性,再在两轮机器人物理系统中应用该控制器,实际取得的效果非常好。

In this paper, the control of two-wheeled robot is studied, the main purpose is to set the parameters of PID controller to solve the more difficult problem. This paper designs a new method to construct neuron PID controller. With this controller, the adaptive ability and self-learning ability of neurons are greatly improved. The parameters of the controller can be adjusted in real time, and then the nonlinear model of the two-wheeled robot is constructed. The neural PID control system is discussed, and its algorithm is discussed. The parameters of the controller are analyzed, and the controller designed in this paper is applied to the balance control of the two-wheeled robot. Finally, the controller designed in this paper is compared with the traditional controller. The simulation results show that the controller is effective and accurate. Then the controller is applied in the two-wheel robot physicalsystem, with a good result.