基于BP神经网络的护理床运动控制研究

Research on Nursing Bed Motion Control Based on BP Neural Network

运动过程控制是自动化护理床的重要研究内容之一,以提高人体舒适性为目标,对护理床运动控制系统进行了深入研究。首先建立了适用性较强的护理床运动学模型和电机数学模型,并对其运动过程进行了分析;在此基础上提出了一种五段式S形加减速曲线作为护理床运动过程控制目标,并基于此控制目标设计了将BP神经网络与PID控制相结合的BPNNPID算法。在Simulink中对算法进行验证,结果表明其对目标控制曲线的跟随性较好,且系统具备一定的自适应能力。

In this paper,the motion control system of nursing bed is deeply studied in order to improve human comfort.Firstly,the kinematics model of nursing bed and the mathematical model of motor are established,and the motion process is analyzed.On this basis,a five-section s-shaped acceleration and deceleration curve is proposed as the control target of nursing bed motion process,and based on this control target,BPNN-PID algorithm combining BP neural network and PID control is designed in this paper.The algorithm is verified in Simulink,and the results show that it has a good tracking ability to target control curve.