多电机机器人低成本神经脉冲PID控制研究

Study of Low Cost Neural Pulse PID Control for Multi-motor Robot

针对传统连续PID控制器并行使用导致资源访问阻塞,在单一设备内并行运行难以实现实时控制的问题,提出了一种基于神经脉冲的PID控制器,并实现了多电机的控制。该控制器将驱动和传感器信息作为脉冲,通过专门电路实时处理脉冲,实现了大规模的并行信息处理。实验结果证明了实现基于尖峰的控制器的可行性,且硬件要求较低,允许在大量并行控制器中复制该控制器,从而实现机器人实时控制。

A kind of Proportion Integral Derivative(PID)controller based on neural pulse is proposed and the control of multi-motor is realized,aiming at the problem of which is difficult to realize real-time control in parallel operation of a single device in parallel operation of the traditional continuous PID controller caused visiting jam of resources.Driving and sensor information as pulses were taken by the controller,and the pulses were processed in real time through specialized circuits,thus realizing a large-scale parallel information processing system.The experimental results demonstrate the feasibility of realizing the peak based controller,and the hardware requirements are low.The controller is allowed to be replicated in a large number of parallel controllers to realize real-time robot control.